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diff --git a/v0.0.x/_sources/api/dsp.rst.txt b/v0.0.x/_sources/api/dsp.rst.txt
index 76e98af8a..d1d587cf3 100644
--- a/v0.0.x/_sources/api/dsp.rst.txt
+++ b/v0.0.x/_sources/api/dsp.rst.txt
@@ -6,7 +6,12 @@ Digital signal processing
 Filtering
 ---------
 
-.. python-apigen-group:: filtering
+.. python-apigen-group:: dsp-filtering
+
+Multirate filtering
+-------------------
+
+.. python-apigen-group:: dsp-multirate-filtering
 
 Resampling
 ----------
diff --git a/v0.0.x/api/conversions/index.html b/v0.0.x/api/conversions/index.html
index 4de53243c..e64a07348 100644
--- a/v0.0.x/api/conversions/index.html
+++ b/v0.0.x/api/conversions/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/data-manipulation/index.html b/v0.0.x/api/data-manipulation/index.html
index 647c70957..92c6305d9 100644
--- a/v0.0.x/api/data-manipulation/index.html
+++ b/v0.0.x/api/data-manipulation/index.html
@@ -827,7 +827,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -835,8 +835,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -934,7 +1002,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -942,14 +1010,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1046,7 +1114,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1054,10 +1122,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1076,7 +1144,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1098,8 +1166,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1129,7 +1212,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1151,8 +1234,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1182,7 +1265,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1190,10 +1273,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1204,8 +1287,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1235,7 +1333,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1243,10 +1341,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1257,8 +1355,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1272,8 +1370,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1287,8 +1385,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1302,18 +1400,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1335,24 +1440,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1361,30 +1466,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1393,8 +1513,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1408,8 +1528,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1424,6 +1574,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1433,24 +1599,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1461,8 +1687,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1486,24 +1712,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1514,26 +1740,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1542,15 +1761,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1559,8 +1793,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1574,8 +1808,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1599,24 +1833,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1627,26 +1861,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1655,15 +1882,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1672,8 +1914,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1687,8 +1929,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1702,8 +1944,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1717,8 +1959,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1741,6 +1983,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1758,7 +2015,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1766,14 +2023,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1788,7 +2045,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1796,14 +2053,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1818,7 +2075,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1826,14 +2083,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1871,7 +2128,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1879,14 +2136,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1924,7 +2181,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1932,14 +2189,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1977,7 +2234,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1985,14 +2242,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2076,7 +2333,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2084,14 +2341,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/dsp/index.html b/v0.0.x/api/dsp/index.html
index 34fed3096..4cbee07a8 100644
--- a/v0.0.x/api/dsp/index.html
+++ b/v0.0.x/api/dsp/index.html
@@ -835,7 +835,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -843,8 +843,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -942,7 +1010,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -950,14 +1018,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1054,7 +1122,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1062,10 +1130,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1084,7 +1152,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1106,8 +1174,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1137,7 +1220,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1159,8 +1242,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1190,7 +1273,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1198,10 +1281,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1212,8 +1295,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1243,7 +1341,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1251,10 +1349,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1265,8 +1363,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1280,8 +1378,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1295,8 +1393,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1310,19 +1408,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
   
   
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1343,24 +1448,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1369,30 +1474,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1401,8 +1521,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1416,8 +1536,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1432,6 +1582,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1441,24 +1607,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1469,8 +1695,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1494,24 +1720,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1522,26 +1748,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1550,15 +1769,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1567,8 +1801,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1582,8 +1816,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1607,24 +1841,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1635,26 +1869,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1663,15 +1890,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1680,8 +1922,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1695,8 +1937,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1710,8 +1952,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1725,8 +1967,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1749,6 +1991,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1766,7 +2023,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1774,14 +2031,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1796,7 +2053,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1804,14 +2061,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1826,7 +2083,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1834,14 +2091,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1879,7 +2136,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1887,14 +2144,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1932,7 +2189,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1940,14 +2197,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1985,7 +2242,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1993,14 +2250,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2084,7 +2341,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2092,14 +2349,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -2253,6 +2510,33 @@
       </ul>
     </nav>
   
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.FIR/#string-representation" class="md-nav__link">
+    <span class="md-ellipsis">String representation</span>
+  </a>
+  
+    <nav class="md-nav" aria-label="String representation">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.FIR.__str__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
 </li>
         
           <li class="md-nav__item">
@@ -2350,15 +2634,15 @@
 </li>
         
           <li class="md-nav__item">
-  <a href="../sdr.FIRInterpolator/" class="md-nav__link">
-    <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+  <a href="../sdr.IIR/" class="md-nav__link">
+    <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
   </a>
   
-    <nav class="md-nav" aria-label="FIRInterpolator">
+    <nav class="md-nav" aria-label="IIR">
       <ul class="md-nav__list">
         
           <li class="md-nav__item">
-  <a href="../sdr.FIRInterpolator/#constructors" class="md-nav__link">
+  <a href="../sdr.IIR/#constructors" class="md-nav__link">
     <span class="md-ellipsis">Constructors</span>
   </a>
   
@@ -2366,8 +2650,15 @@
       <ul class="md-nav__list">
         
           <li class="md-nav__item">
-  <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+  <a href="../sdr.IIR.__init__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
   </a>
   
 </li>
@@ -2378,7 +2669,7 @@
 </li>
         
           <li class="md-nav__item">
-  <a href="../sdr.FIRInterpolator/#special-methods" class="md-nav__link">
+  <a href="../sdr.IIR/#special-methods" class="md-nav__link">
     <span class="md-ellipsis">Special methods</span>
   </a>
   
@@ -2386,8 +2677,8 @@
       <ul class="md-nav__list">
         
           <li class="md-nav__item">
-  <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+  <a href="../sdr.IIR.__call__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
   </a>
   
 </li>
@@ -2398,16 +2689,23 @@
 </li>
         
           <li class="md-nav__item">
-  <a href="../sdr.FIRInterpolator/#methods" class="md-nav__link">
-    <span class="md-ellipsis">Methods</span>
+  <a href="../sdr.IIR/#string-representation" class="md-nav__link">
+    <span class="md-ellipsis">String representation</span>
   </a>
   
-    <nav class="md-nav" aria-label="Methods">
+    <nav class="md-nav" aria-label="String representation">
       <ul class="md-nav__list">
         
           <li class="md-nav__item">
-  <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+  <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.__str__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
   </a>
   
 </li>
@@ -2418,43 +2716,45 @@
 </li>
         
           <li class="md-nav__item">
-  <a href="../sdr.FIRInterpolator/#properties" class="md-nav__link">
-    <span class="md-ellipsis">Properties</span>
+  <a href="../sdr.IIR/#methods" class="md-nav__link">
+    <span class="md-ellipsis">Methods</span>
   </a>
   
-    <nav class="md-nav" aria-label="Properties">
+    <nav class="md-nav" aria-label="Methods">
       <ul class="md-nav__list">
         
           <li class="md-nav__item">
-  <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+  <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
-  <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+  <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
-  <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+  <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
-  <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+  <a href="../sdr.IIR.reset/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
   </a>
   
 </li>
         
-      </ul>
-    </nav>
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.step_response/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+  </a>
   
 </li>
         
@@ -2464,31 +2764,58 @@
 </li>
         
           <li class="md-nav__item">
-  <a href="../sdr.IIR/" class="md-nav__link">
-    <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+  <a href="../sdr.IIR/#properties" class="md-nav__link">
+    <span class="md-ellipsis">Properties</span>
   </a>
   
-    <nav class="md-nav" aria-label="IIR">
+    <nav class="md-nav" aria-label="Properties">
       <ul class="md-nav__list">
         
           <li class="md-nav__item">
-  <a href="../sdr.IIR/#constructors" class="md-nav__link">
-    <span class="md-ellipsis">Constructors</span>
+  <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
   </a>
   
-    <nav class="md-nav" aria-label="Constructors">
-      <ul class="md-nav__list">
+</li>
         
           <li class="md-nav__item">
-  <a href="../sdr.IIR.__init__/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+  <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
-  <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+  <a href="../sdr.IIR.gain/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.order/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.poles/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.streaming/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.zeros/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
   </a>
   
 </li>
@@ -2498,17 +2825,43 @@
   
 </li>
         
+      </ul>
+    </nav>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#multirate-filtering" class="md-nav__link">
+    <span class="md-ellipsis">Multirate filtering</span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Multirate filtering">
+      <ul class="md-nav__list">
+        
           <li class="md-nav__item">
-  <a href="../sdr.IIR/#special-methods" class="md-nav__link">
-    <span class="md-ellipsis">Special methods</span>
+  <a href="../sdr.FIRInterpolator/" class="md-nav__link">
+    <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
   </a>
   
-    <nav class="md-nav" aria-label="Special methods">
+    <nav class="md-nav" aria-label="FIRInterpolator">
       <ul class="md-nav__list">
         
           <li class="md-nav__item">
-  <a href="../sdr.IIR.__call__/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+  <a href="../sdr.FIRInterpolator/#constructors" class="md-nav__link">
+    <span class="md-ellipsis">Constructors</span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Constructors">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
   </a>
   
 </li>
@@ -2519,44 +2872,43 @@
 </li>
         
           <li class="md-nav__item">
-  <a href="../sdr.IIR/#methods" class="md-nav__link">
-    <span class="md-ellipsis">Methods</span>
+  <a href="../sdr.FIRInterpolator/#special-methods" class="md-nav__link">
+    <span class="md-ellipsis">Special methods</span>
   </a>
   
-    <nav class="md-nav" aria-label="Methods">
+    <nav class="md-nav" aria-label="Special methods">
       <ul class="md-nav__list">
         
           <li class="md-nav__item">
-  <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+  <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
   </a>
   
 </li>
         
-          <li class="md-nav__item">
-  <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-  </a>
+      </ul>
+    </nav>
   
 </li>
         
           <li class="md-nav__item">
-  <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+  <a href="../sdr.FIRInterpolator/#string-representation" class="md-nav__link">
+    <span class="md-ellipsis">String representation</span>
   </a>
   
-</li>
+    <nav class="md-nav" aria-label="String representation">
+      <ul class="md-nav__list">
         
           <li class="md-nav__item">
-  <a href="../sdr.IIR.reset/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+  <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
-  <a href="../sdr.IIR.step_response/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+  <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
   </a>
   
 </li>
@@ -2567,58 +2919,57 @@
 </li>
         
           <li class="md-nav__item">
-  <a href="../sdr.IIR/#properties" class="md-nav__link">
-    <span class="md-ellipsis">Properties</span>
+  <a href="../sdr.FIRInterpolator/#methods" class="md-nav__link">
+    <span class="md-ellipsis">Methods</span>
   </a>
   
-    <nav class="md-nav" aria-label="Properties">
+    <nav class="md-nav" aria-label="Methods">
       <ul class="md-nav__list">
         
           <li class="md-nav__item">
-  <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+  <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
   </a>
   
 </li>
         
-          <li class="md-nav__item">
-  <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-  </a>
+      </ul>
+    </nav>
   
 </li>
         
           <li class="md-nav__item">
-  <a href="../sdr.IIR.gain/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+  <a href="../sdr.FIRInterpolator/#properties" class="md-nav__link">
+    <span class="md-ellipsis">Properties</span>
   </a>
   
-</li>
+    <nav class="md-nav" aria-label="Properties">
+      <ul class="md-nav__list">
         
           <li class="md-nav__item">
-  <a href="../sdr.IIR.order/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+  <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
-  <a href="../sdr.IIR.poles/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+  <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
-  <a href="../sdr.IIR.streaming/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+  <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
-  <a href="../sdr.IIR.zeros/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+  <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
   </a>
   
 </li>
@@ -2631,6 +2982,13 @@
       </ul>
     </nav>
   
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.multirate_fir/" class="md-nav__link">
+    <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+  </a>
+  
 </li>
         
       </ul>
@@ -6795,6 +7153,13 @@
     <span class="md-ellipsis">Filtering</span>
   </a>
   
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#multirate-filtering" class="md-nav__link">
+    <span class="md-ellipsis">Multirate filtering</span>
+  </a>
+  
 </li>
       
         <li class="md-nav__item">
@@ -6842,14 +7207,23 @@ <h2 id="filtering">Filtering<a class="headerlink" href="#filtering" title="Perma
 
 <dl class="py class summary objdesc">
 <dt class="sig sig-object highlight py">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">sdr.</span></span><a class="sig-name descname pseudo-toc-entry reference internal" href="../sdr.FIRInterpolator/" title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter."><span class="sig-name descname pseudo-toc-entry"><span class="pre">FIRInterpolator</span></span></a></dt>
-<dd><p>Implements a polyphase finite impulse response (FIR) interpolating filter.</p>
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">sdr.</span></span><a class="sig-name descname pseudo-toc-entry reference internal" href="../sdr.IIR/" title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter."><span class="sig-name descname pseudo-toc-entry"><span class="pre">IIR</span></span></a></dt>
+<dd><p>Implements an infinite impulse response (IIR) filter.</p>
 </dd></dl>
 
+<div class="toctree-wrapper compound">
+</div>
+<h2 id="multirate-filtering">Multirate filtering<a class="headerlink" href="#multirate-filtering" title="Permalink to this heading">¶</a></h2>
 <dl class="py class summary objdesc">
 <dt class="sig sig-object highlight py">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">sdr.</span></span><a class="sig-name descname pseudo-toc-entry reference internal" href="../sdr.IIR/" title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter."><span class="sig-name descname pseudo-toc-entry"><span class="pre">IIR</span></span></a></dt>
-<dd><p>Implements an infinite impulse response (IIR) filter.</p>
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">sdr.</span></span><a class="sig-name descname pseudo-toc-entry reference internal" href="../sdr.FIRInterpolator/" title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter."><span class="sig-name descname pseudo-toc-entry"><span class="pre">FIRInterpolator</span></span></a><span class="p"><span class="pre">(</span></span><span class="desctype"><a class="reference internal" href="../sdr.FIR/" title="sdr.FIR (Python class) — Implements a finite impulse response (FIR) filter."><span class="pre">sdr.FIR</span></a></span><span class="p"><span class="pre">)</span></span></dt>
+<dd><p>Implements a polyphase finite impulse response (FIR) interpolating filter.</p>
+</dd></dl>
+
+<dl class="py function summary objdesc">
+<dt class="sig sig-object highlight py">
+<span class="sig-prename descclassname"><span class="pre">sdr.</span></span><a class="sig-name descname pseudo-toc-entry reference internal" href="../sdr.multirate_fir/" title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$."><span class="sig-name descname pseudo-toc-entry"><span class="pre">multirate_fir</span></span></a><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="../sdr.multirate_fir/#p-P" title="sdr.multirate_fir.P (Python parameter) — The interpolation rate $P$."><span class="n"><span class="pre">P</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.11)"><span class="pre">int</span></a></span></span></em>, </span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="../sdr.multirate_fir/#p-Q" title="sdr.multirate_fir.Q (Python parameter) — The decimation rate $Q$."><span class="n"><span class="pre">Q</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.11)"><span class="pre">int</span></a></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><code class="code python default_value docutils literal highlight highlight-python"><span class="mi">1</span></code></em>, </span><span class="sig-param-decl"><em class="sig-param"><span class="p"><span class="pre">...</span></span></em></span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.25)"><span class="pre">ndarray</span></a></span></span></span></dt>
+<dd><p>Computes the multirate FIR filter that achieves rational resampling by <span class="math notranslate nohighlight">\(P/Q\)</span>.</p>
 </dd></dl>
 
 <div class="toctree-wrapper compound">
@@ -6894,7 +7268,7 @@ <h2 id="signal-manipulation">Signal manipulation<a class="headerlink" href="#sig
   <small>
     
       Last update:
-      Aug 06, 2023
+      Aug 12, 2023
     
   </small>
 </div>
diff --git a/v0.0.x/api/link-budgets/index.html b/v0.0.x/api/link-budgets/index.html
index 31ae8b8cf..da3c9019b 100644
--- a/v0.0.x/api/link-budgets/index.html
+++ b/v0.0.x/api/link-budgets/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
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@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
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         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
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           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
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@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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           <span class="md-ellipsis">Properties</span>
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/measurement/index.html b/v0.0.x/api/measurement/index.html
index 9391bef6d..e8638489f 100644
--- a/v0.0.x/api/measurement/index.html
+++ b/v0.0.x/api/measurement/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/modulation/index.html b/v0.0.x/api/modulation/index.html
index 18459c0ec..f378ae960 100644
--- a/v0.0.x/api/modulation/index.html
+++ b/v0.0.x/api/modulation/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/plotting/index.html b/v0.0.x/api/plotting/index.html
index 80e8c0194..36013095a 100644
--- a/v0.0.x/api/plotting/index.html
+++ b/v0.0.x/api/plotting/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
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@@ -1929,7 +2186,7 @@
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+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/probability/index.html b/v0.0.x/api/probability/index.html
index 553399ad0..0087e6c16 100644
--- a/v0.0.x/api/probability/index.html
+++ b/v0.0.x/api/probability/index.html
@@ -827,7 +827,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -835,8 +835,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -934,7 +1002,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -942,14 +1010,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1046,7 +1114,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1054,10 +1122,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1076,7 +1144,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1098,8 +1166,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1129,7 +1212,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1151,8 +1234,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1182,7 +1265,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1190,10 +1273,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1204,8 +1287,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1235,7 +1333,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1243,10 +1341,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1257,8 +1355,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1272,8 +1370,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1287,8 +1385,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1302,18 +1400,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1335,24 +1440,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1361,30 +1466,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1393,8 +1513,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1408,8 +1528,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1424,6 +1574,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1433,24 +1599,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1461,8 +1687,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1486,24 +1712,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1514,26 +1740,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1542,15 +1761,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1559,8 +1793,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1574,8 +1808,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1599,24 +1833,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1627,26 +1861,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1655,15 +1882,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1672,8 +1914,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1687,8 +1929,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1702,8 +1944,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1717,8 +1959,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1741,6 +1983,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1758,7 +2015,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1766,14 +2023,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1788,7 +2045,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
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-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
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@@ -1818,7 +2075,7 @@
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@@ -1826,14 +2083,14 @@
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-            <label for="__nav_3_1_2_1_1">
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@@ -1985,14 +2242,14 @@
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-            <label for="__nav_3_1_2_1_4">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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@@ -2076,7 +2333,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2084,14 +2341,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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+        <label class="md-nav__title" for="__nav_3_1_4">
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diff --git a/v0.0.x/api/sdr.ClosedLoopPLL.Bn/index.html b/v0.0.x/api/sdr.ClosedLoopPLL.Bn/index.html
index 41d9f5385..7e2e016e2 100644
--- a/v0.0.x/api/sdr.ClosedLoopPLL.Bn/index.html
+++ b/v0.0.x/api/sdr.ClosedLoopPLL.Bn/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
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@@ -1763,7 +2020,7 @@
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@@ -1771,14 +2028,14 @@
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-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.ClosedLoopPLL.BnT/index.html b/v0.0.x/api/sdr.ClosedLoopPLL.BnT/index.html
index 769ca4602..12983cada 100644
--- a/v0.0.x/api/sdr.ClosedLoopPLL.BnT/index.html
+++ b/v0.0.x/api/sdr.ClosedLoopPLL.BnT/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
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@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.ClosedLoopPLL.K0/index.html b/v0.0.x/api/sdr.ClosedLoopPLL.K0/index.html
index d3957093f..5bbab4175 100644
--- a/v0.0.x/api/sdr.ClosedLoopPLL.K0/index.html
+++ b/v0.0.x/api/sdr.ClosedLoopPLL.K0/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
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@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1579,8 +1813,8 @@
   
   
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-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
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-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
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+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
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     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
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@@ -1763,7 +2020,7 @@
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@@ -1771,14 +2028,14 @@
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-            <label for="__nav_3_1_2">
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+        <label class="md-nav__title" for="__nav_3_1_3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1831,14 +2088,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
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-            <label for="__nav_3_1_2_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
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+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
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index c8d7da797..5f4be1acd 100644
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@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
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+
+            
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+              
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+  
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+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
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@@ -947,14 +1015,14 @@
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-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
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-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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           <span class="md-ellipsis">Properties</span>
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@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
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               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
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           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
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         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
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           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
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           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
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-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1831,14 +2088,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.ClosedLoopPLL.K2/index.html b/v0.0.x/api/sdr.ClosedLoopPLL.K2/index.html
index 9f51fd4c1..a825f6349 100644
--- a/v0.0.x/api/sdr.ClosedLoopPLL.K2/index.html
+++ b/v0.0.x/api/sdr.ClosedLoopPLL.K2/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.ClosedLoopPLL.Kp/index.html b/v0.0.x/api/sdr.ClosedLoopPLL.Kp/index.html
index 3241842eb..ffa6261c6 100644
--- a/v0.0.x/api/sdr.ClosedLoopPLL.Kp/index.html
+++ b/v0.0.x/api/sdr.ClosedLoopPLL.Kp/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.ClosedLoopPLL.__init__/index.html b/v0.0.x/api/sdr.ClosedLoopPLL.__init__/index.html
index be8f6ab7f..df5a600e8 100644
--- a/v0.0.x/api/sdr.ClosedLoopPLL.__init__/index.html
+++ b/v0.0.x/api/sdr.ClosedLoopPLL.__init__/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.ClosedLoopPLL.frequency_lock_time/index.html b/v0.0.x/api/sdr.ClosedLoopPLL.frequency_lock_time/index.html
index c48c3ba4f..4bab8243b 100644
--- a/v0.0.x/api/sdr.ClosedLoopPLL.frequency_lock_time/index.html
+++ b/v0.0.x/api/sdr.ClosedLoopPLL.frequency_lock_time/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.ClosedLoopPLL.iir/index.html b/v0.0.x/api/sdr.ClosedLoopPLL.iir/index.html
index 592dc23f1..72fe3dae0 100644
--- a/v0.0.x/api/sdr.ClosedLoopPLL.iir/index.html
+++ b/v0.0.x/api/sdr.ClosedLoopPLL.iir/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
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@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
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@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
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@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
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+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
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+          <span class="md-ellipsis">Methods</span>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
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+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
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+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
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@@ -1763,7 +2020,7 @@
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@@ -1771,14 +2028,14 @@
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-            <label for="__nav_3_1_2">
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+        <label class="md-nav__title" for="__nav_3_1_3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1831,14 +2088,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
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diff --git a/v0.0.x/api/sdr.ClosedLoopPLL.lock_time/index.html b/v0.0.x/api/sdr.ClosedLoopPLL.lock_time/index.html
index e9aa4696f..198398fe5 100644
--- a/v0.0.x/api/sdr.ClosedLoopPLL.lock_time/index.html
+++ b/v0.0.x/api/sdr.ClosedLoopPLL.lock_time/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
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+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
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@@ -947,14 +1015,14 @@
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-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
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           <span class="md-ellipsis">Properties</span>
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@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
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@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
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           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.ClosedLoopPLL.omega_3dB/index.html b/v0.0.x/api/sdr.ClosedLoopPLL.omega_3dB/index.html
index 2cbc92863..7983d2d4b 100644
--- a/v0.0.x/api/sdr.ClosedLoopPLL.omega_3dB/index.html
+++ b/v0.0.x/api/sdr.ClosedLoopPLL.omega_3dB/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.ClosedLoopPLL.omega_n/index.html b/v0.0.x/api/sdr.ClosedLoopPLL.omega_n/index.html
index 7fccec45c..36ec50b46 100644
--- a/v0.0.x/api/sdr.ClosedLoopPLL.omega_n/index.html
+++ b/v0.0.x/api/sdr.ClosedLoopPLL.omega_n/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
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@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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+        <label class="md-nav__title" for="__nav_3_1_4">
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diff --git a/v0.0.x/api/sdr.ClosedLoopPLL.phase_error_variance/index.html b/v0.0.x/api/sdr.ClosedLoopPLL.phase_error_variance/index.html
index 6f61f33a4..3730a1360 100644
--- a/v0.0.x/api/sdr.ClosedLoopPLL.phase_error_variance/index.html
+++ b/v0.0.x/api/sdr.ClosedLoopPLL.phase_error_variance/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
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-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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-            <label for="__nav_3_1_2">
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+        <label class="md-nav__title" for="__nav_3_1_3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.ClosedLoopPLL.phase_lock_time/index.html b/v0.0.x/api/sdr.ClosedLoopPLL.phase_lock_time/index.html
index f2dc50589..3857b61cc 100644
--- a/v0.0.x/api/sdr.ClosedLoopPLL.phase_lock_time/index.html
+++ b/v0.0.x/api/sdr.ClosedLoopPLL.phase_lock_time/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
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@@ -1763,7 +2020,7 @@
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-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
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         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.ClosedLoopPLL.sample_rate/index.html b/v0.0.x/api/sdr.ClosedLoopPLL.sample_rate/index.html
index bcc25ed34..505c99a25 100644
--- a/v0.0.x/api/sdr.ClosedLoopPLL.sample_rate/index.html
+++ b/v0.0.x/api/sdr.ClosedLoopPLL.sample_rate/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
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@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
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+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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           <span class="md-ellipsis">Constructors</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
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           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.ClosedLoopPLL.zeta/index.html b/v0.0.x/api/sdr.ClosedLoopPLL.zeta/index.html
index 83bd60b5b..f39f9a7b8 100644
--- a/v0.0.x/api/sdr.ClosedLoopPLL.zeta/index.html
+++ b/v0.0.x/api/sdr.ClosedLoopPLL.zeta/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
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-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
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+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
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+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1579,8 +1813,8 @@
   
   
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-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
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-          <span class="md-ellipsis">Properties</span>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
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+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
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@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
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     </li>
@@ -1763,7 +2020,7 @@
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@@ -1771,14 +2028,14 @@
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-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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+        <label class="md-nav__title" for="__nav_3_1_3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1831,14 +2088,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
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-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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-            <label for="__nav_3_1_3">
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+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
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index 7183041c1..1ae6cacd3 100644
--- a/v0.0.x/api/sdr.ClosedLoopPLL/index.html
+++ b/v0.0.x/api/sdr.ClosedLoopPLL/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
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+  
+  
+
+            
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+              
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+    <li class="md-nav__item md-nav__item--nested">
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+      
+      
+      
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+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
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+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
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@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
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@@ -1491,24 +1717,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
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               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
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@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
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@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
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         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
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         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.DDS.__call__/index.html b/v0.0.x/api/sdr.DDS.__call__/index.html
index ee068f8f9..f0d825d6c 100644
--- a/v0.0.x/api/sdr.DDS.__call__/index.html
+++ b/v0.0.x/api/sdr.DDS.__call__/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.DDS.__init__/index.html b/v0.0.x/api/sdr.DDS.__init__/index.html
index 377f1ab16..ba2dcab35 100644
--- a/v0.0.x/api/sdr.DDS.__init__/index.html
+++ b/v0.0.x/api/sdr.DDS.__init__/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
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-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
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@@ -1831,14 +2088,14 @@
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-            <label for="__nav_3_1_2_1_1">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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@@ -1884,14 +2141,14 @@
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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           <span class="md-ellipsis">Properties</span>
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.DDS.nco/index.html b/v0.0.x/api/sdr.DDS.nco/index.html
index c521652d5..5ad282bca 100644
--- a/v0.0.x/api/sdr.DDS.nco/index.html
+++ b/v0.0.x/api/sdr.DDS.nco/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
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@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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@@ -1771,14 +2028,14 @@
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-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.DDS.reset/index.html b/v0.0.x/api/sdr.DDS.reset/index.html
index 66a7f4c3a..c8c313820 100644
--- a/v0.0.x/api/sdr.DDS.reset/index.html
+++ b/v0.0.x/api/sdr.DDS.reset/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.DDS.step/index.html b/v0.0.x/api/sdr.DDS.step/index.html
index 7ba84bdda..baaf214f0 100644
--- a/v0.0.x/api/sdr.DDS.step/index.html
+++ b/v0.0.x/api/sdr.DDS.step/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
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@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
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+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
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@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.DDS/index.html b/v0.0.x/api/sdr.DDS/index.html
index fae78f960..856e8976c 100644
--- a/v0.0.x/api/sdr.DDS/index.html
+++ b/v0.0.x/api/sdr.DDS/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
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               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
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-          <span class="md-ellipsis">Methods</span>
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         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
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@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.ErrorRate.__init__/index.html b/v0.0.x/api/sdr.ErrorRate.__init__/index.html
index 7e07bf528..2fc27fd07 100644
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+++ b/v0.0.x/api/sdr.ErrorRate.__init__/index.html
@@ -827,7 +827,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -835,8 +835,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -934,7 +1002,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -942,14 +1010,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1046,7 +1114,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1054,10 +1122,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1076,7 +1144,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1098,8 +1166,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1129,7 +1212,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1151,8 +1234,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1182,7 +1265,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1190,10 +1273,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1204,8 +1287,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1235,7 +1333,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1243,10 +1341,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1257,8 +1355,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1272,8 +1370,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1287,8 +1385,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1302,18 +1400,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1335,24 +1440,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1361,30 +1466,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1393,8 +1513,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1408,8 +1528,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1424,6 +1574,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1433,24 +1599,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1461,8 +1687,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1486,24 +1712,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1514,26 +1740,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1542,15 +1761,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1559,8 +1793,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1574,8 +1808,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1599,24 +1833,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1627,26 +1861,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1655,15 +1882,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1672,8 +1914,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1687,8 +1929,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1702,8 +1944,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1717,8 +1959,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1741,6 +1983,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1758,7 +2015,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1766,14 +2023,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1788,7 +2045,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1796,14 +2053,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1818,7 +2075,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1826,14 +2083,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1871,7 +2128,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1879,14 +2136,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1924,7 +2181,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1932,14 +2189,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1977,7 +2234,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1985,14 +2242,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2076,7 +2333,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2084,14 +2341,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.ErrorRate.add/index.html b/v0.0.x/api/sdr.ErrorRate.add/index.html
index 5522689e1..145319e0c 100644
--- a/v0.0.x/api/sdr.ErrorRate.add/index.html
+++ b/v0.0.x/api/sdr.ErrorRate.add/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1831,14 +2088,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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           <span class="md-ellipsis">Constructors</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
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+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
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@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.ErrorRate.counts/index.html b/v0.0.x/api/sdr.ErrorRate.counts/index.html
index 39d961f59..9e1d5c699 100644
--- a/v0.0.x/api/sdr.ErrorRate.counts/index.html
+++ b/v0.0.x/api/sdr.ErrorRate.counts/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
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@@ -1763,7 +2020,7 @@
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+        <label class="md-nav__title" for="__nav_3_1_3">
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@@ -1801,14 +2058,14 @@
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-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
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           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1831,14 +2088,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.ErrorRate.error_rate/index.html b/v0.0.x/api/sdr.ErrorRate.error_rate/index.html
index b5410e962..750f88056 100644
--- a/v0.0.x/api/sdr.ErrorRate.error_rate/index.html
+++ b/v0.0.x/api/sdr.ErrorRate.error_rate/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.ErrorRate.error_rates/index.html b/v0.0.x/api/sdr.ErrorRate.error_rates/index.html
index 0a5cc1534..52a843ad9 100644
--- a/v0.0.x/api/sdr.ErrorRate.error_rates/index.html
+++ b/v0.0.x/api/sdr.ErrorRate.error_rates/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
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+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
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-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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index 9b469d4c9..3e0099ca3 100644
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+++ b/v0.0.x/api/sdr.ErrorRate.errors/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.ErrorRate/index.html b/v0.0.x/api/sdr.ErrorRate/index.html
index 47a3bf2c0..9b6c07fa6 100644
--- a/v0.0.x/api/sdr.ErrorRate/index.html
+++ b/v0.0.x/api/sdr.ErrorRate/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.FIR.__call__/index.html b/v0.0.x/api/sdr.FIR.__call__/index.html
index 7ea27be5a..daccaf133 100644
--- a/v0.0.x/api/sdr.FIR.__call__/index.html
+++ b/v0.0.x/api/sdr.FIR.__call__/index.html
@@ -912,7 +912,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -920,8 +920,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1019,7 +1087,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -1027,14 +1095,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1131,7 +1199,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1139,10 +1207,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1161,7 +1229,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1183,8 +1251,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1214,7 +1297,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1236,8 +1319,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1267,7 +1350,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1275,10 +1358,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1289,8 +1372,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1320,7 +1418,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1328,10 +1426,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1342,8 +1440,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1357,8 +1455,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1372,8 +1470,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1387,18 +1485,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1420,24 +1525,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1446,30 +1551,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1478,8 +1598,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1493,8 +1613,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1509,6 +1659,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1518,24 +1684,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1546,8 +1772,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1571,24 +1797,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1599,26 +1825,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1627,15 +1846,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1644,8 +1878,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1659,8 +1893,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1684,24 +1918,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1712,26 +1946,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1740,15 +1967,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1757,8 +1999,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1772,8 +2014,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1787,8 +2029,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1802,8 +2044,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1826,6 +2068,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1843,7 +2100,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1851,14 +2108,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1873,7 +2130,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1881,14 +2138,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1903,7 +2160,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1911,14 +2168,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1956,7 +2213,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1964,14 +2221,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -2017,14 +2274,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2062,7 +2319,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2070,14 +2327,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2161,7 +2418,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2169,14 +2426,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.FIR.__init__/index.html b/v0.0.x/api/sdr.FIR.__init__/index.html
index fb84f72c9..f0b333143 100644
--- a/v0.0.x/api/sdr.FIR.__init__/index.html
+++ b/v0.0.x/api/sdr.FIR.__init__/index.html
@@ -905,7 +905,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -913,8 +913,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1012,7 +1080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -1020,14 +1088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1124,7 +1192,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1132,10 +1200,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1154,7 +1222,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1176,8 +1244,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1207,7 +1290,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1229,8 +1312,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
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@@ -1260,7 +1343,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1268,10 +1351,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1282,8 +1365,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1313,7 +1411,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1321,10 +1419,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1335,8 +1433,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1350,8 +1448,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1365,8 +1463,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1380,18 +1478,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1413,24 +1518,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1439,30 +1544,45 @@
   
   
   
-    
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-      
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-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1471,8 +1591,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1486,8 +1606,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1502,6 +1652,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1511,24 +1677,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1539,8 +1765,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1564,24 +1790,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1592,26 +1818,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1620,15 +1839,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1637,8 +1871,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1652,8 +1886,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1677,24 +1911,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1705,26 +1939,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1733,15 +1960,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1750,8 +1992,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1765,8 +2007,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1780,8 +2022,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1795,8 +2037,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1819,6 +2061,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1836,7 +2093,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1844,14 +2101,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
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+        <label class="md-nav__title" for="__nav_3_1_3">
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@@ -1866,7 +2123,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1874,14 +2131,14 @@
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-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1896,7 +2153,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1904,14 +2161,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1957,14 +2214,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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@@ -2010,14 +2267,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -2055,7 +2312,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2063,14 +2320,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2154,7 +2411,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2162,14 +2419,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.FIR.__len__/index.html b/v0.0.x/api/sdr.FIR.__len__/index.html
index 59ebe5f34..f37769ec6 100644
--- a/v0.0.x/api/sdr.FIR.__len__/index.html
+++ b/v0.0.x/api/sdr.FIR.__len__/index.html
@@ -885,7 +885,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -893,8 +893,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -992,7 +1060,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -1000,14 +1068,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1104,7 +1172,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1112,10 +1180,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1134,7 +1202,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1224,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1209,8 +1292,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1323,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1331,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1345,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
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@@ -1293,7 +1391,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1301,10 +1399,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1315,8 +1413,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1330,8 +1428,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1345,8 +1443,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1360,18 +1458,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1393,24 +1498,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1419,30 +1524,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1451,8 +1571,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1466,8 +1586,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1482,6 +1632,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1491,24 +1657,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,8 +1745,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1544,24 +1770,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1572,26 +1798,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1600,15 +1819,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1617,8 +1851,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1632,8 +1866,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1657,24 +1891,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1685,26 +1919,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1713,15 +1940,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1730,8 +1972,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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     </li>
   
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     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
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     <li class="md-nav__item">
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+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
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     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1799,6 +2041,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
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               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1854,14 +2111,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -2043,14 +2300,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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           <span class="md-ellipsis">Properties</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -6285,13 +6542,13 @@
       
       
         
-        <a href="../sdr.FIR.frequency_response/" class="md-footer__link md-footer__link--next" aria-label="Next: sdr.FIR.frequency_response" rel="next">
+        <a href="../sdr.FIR.__repr__/" class="md-footer__link md-footer__link--next" aria-label="Next: sdr.FIR.__repr__" rel="next">
           <div class="md-footer__title">
             <div class="md-ellipsis">
               <span class="md-footer__direction">
                 Next
               </span>
-              sdr.FIR.frequency_response
+              sdr.FIR.__repr__
             </div>
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           <div class="md-footer__button md-icon">
diff --git a/v0.0.x/api/sdr.FIR.__repr__/index.html b/v0.0.x/api/sdr.FIR.__repr__/index.html
new file mode 100644
index 000000000..c0f277ff5
--- /dev/null
+++ b/v0.0.x/api/sdr.FIR.__repr__/index.html
@@ -0,0 +1,6617 @@
+
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+        <label class="md-nav__title" for="__nav_3_1_1_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__init__ (Python method) — Creates a FIR filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_2" type="checkbox" id="__nav_3_1_1_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_1_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__call__ (Python method) — Filters the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__len__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__len__ (Python method) — Returns the filter length $N$." class="md-ellipsis">__<wbr>len__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_3" type="checkbox" id="__nav_3_1_1_1_3" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_1_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the FIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the FIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the FIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.step_response (Python method) — Returns the step response $s[n]$ of the FIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.delay/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.delay (Python property) — The delay of the FIR filter in samples." class="md-ellipsis">delay</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.order (Python property) — The order of the FIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.taps (Python property) — The feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          
+            <label for="__nav_3_1_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_1" type="checkbox" id="__nav_3_1_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_2" type="checkbox" id="__nav_3_1_1_2_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_1_2_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_3" type="checkbox" id="__nav_3_1_1_2_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_1_2_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
+          
+            <label for="__nav_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_2_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
+          
+            <label for="__nav_3_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Resampling" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Resampling</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
+          
+            <label for="__nav_3_1_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_3_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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+          <span class="md-ellipsis">Constructors</span>
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+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.__init__ (Python method) — Creates a new Farrow arbitrary resampler." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
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+        </ul>
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+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
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+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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+          <span class="md-ellipsis">Special methods</span>
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+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.__call__ (Python method) — Resamples the input signal $x[n]$ by the given arbitrary rate $r$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_3_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.reset (Python method) — Streaming-mode only: Resets the filter state and fractional sample index." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_3_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.order (Python property) — The order of the filter." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.taps (Python property) — The Farrow filter taps." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+      </nav>
+    </li>
+  
+  
+
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+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
+          
+            <label for="__nav_3_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Signal manipulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.mix/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.mix (Python function) — Mixes the time-domain signal $x[n]$ with a complex exponential." class="md-ellipsis">mix</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.to_complex_bb/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.to_complex_bb (Python function) — Converts the real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r}$ to a complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c} = f_{s,r}/2$." class="md-ellipsis">to_<wbr>complex_<wbr>bb</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.to_real_pb/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.to_real_pb (Python function) — Converts the complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c}$ to a real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r} = 2f_{s,c}$." class="md-ellipsis">to_<wbr>real_<wbr>pb</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_2" type="checkbox" id="__nav_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sequences/"><span class="md-ellipsis">Sequences</span></a>
+          
+            <label for="__nav_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Sequences" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Sequences</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.barker/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.barker (Python function) — Returns the Barker code/sequence of length $N$." class="md-ellipsis">barker</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.zadoff_chu/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.zadoff_chu (Python function) — Returns the root-$u$ Zadoff-Chu sequence of length $N$." class="md-ellipsis">zadoff_<wbr>chu</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
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+  
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+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3" type="checkbox" id="__nav_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/"><span class="md-ellipsis">Modulation</span></a>
+          
+            <label for="__nav_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Modulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Modulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1" type="checkbox" id="__nav_3_3_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#classes"><span class="md-ellipsis">Classes</span></a>
+          
+            <label for="__nav_3_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Classes" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Classes</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1" type="checkbox" id="__nav_3_3_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.PSK (Python class) — Implements phase-shift keying (PSK) modulation and demodulation." class="md-ellipsis">PSK</span></a>
+          
+            <label for="__nav_3_3_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="PSK" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_3_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.PSK (Python class) — Implements phase-shift keying (PSK) modulation and demodulation." class="md-ellipsis">PSK</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_1" type="checkbox" id="__nav_3_3_1_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_3_1_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.__init__ (Python method) — Creates a new PSK object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_2" type="checkbox" id="__nav_3_3_1_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_3_1_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.ber/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.ber (Python method) — Computes the bit error rate (BER) at the provided $E_b/N_0$ values." class="md-ellipsis">ber</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.demodulate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.demodulate (Python method) — Demodulates the complex symbols $hat{x}[k]$ to decimal symbols $hat{s}[k]$ using maximum-likelihood estimation." class="md-ellipsis">demodulate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.modulate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.modulate (Python method) — Modulates to decimal symbols $s[k]$ to complex symbols $x[k]$." class="md-ellipsis">modulate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.ser/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.ser (Python method) — Computes the symbol error rate (SER) at the provided $E_s/N_0$ values." class="md-ellipsis">ser</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_3" type="checkbox" id="__nav_3_3_1_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_3_1_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.bps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.bps (Python property) — The number of bits per symbol $k = log_2 M$." class="md-ellipsis">bps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.order (Python property) — The modulation order $M = 2^k$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.phase_offset/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.phase_offset (Python property) — The phase offset $phi$ in degrees." class="md-ellipsis">phase_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.symbol_map/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.symbol_map (Python property) — The symbol map ${0, dots, M-1} mapsto mathbb{C}$. This maps decimal symbols from $0$ to $M-1$ to complex symbols." class="md-ellipsis">symbol_<wbr>map</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_2" type="checkbox" id="__nav_3_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#pulse-shaping"><span class="md-ellipsis">Pulse shaping</span></a>
+          
+            <label for="__nav_3_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Pulse shaping" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Pulse shaping</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.gaussian/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.gaussian (Python function) — Returns a Gaussian pulse shape." class="md-ellipsis">gaussian</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.raised_cosine/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.raised_cosine (Python function) — Returns a raised cosine (RC) pulse shape." class="md-ellipsis">raised_<wbr>cosine</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.root_raised_cosine/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.root_raised_cosine (Python function) — Returns a square root raised cosine (SRRC) pulse shape." class="md-ellipsis">root_<wbr>raised_<wbr>cosine</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_3" type="checkbox" id="__nav_3_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#symbol-mapping"><span class="md-ellipsis">Symbol mapping</span></a>
+          
+            <label for="__nav_3_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Symbol mapping" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Symbol mapping</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.binary_code/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.binary_code (Python function) — Generates a binary code of length $2^n$." class="md-ellipsis">binary_<wbr>code</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.gray_code/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.gray_code (Python function) — Generates a Gray code of length $2^n$." class="md-ellipsis">gray_<wbr>code</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_4" type="checkbox" id="__nav_3_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#symbol-encoding"><span class="md-ellipsis">Symbol encoding</span></a>
+          
+            <label for="__nav_3_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Symbol encoding" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Symbol encoding</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.diff_decode/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.diff_decode (Python function) — Differentially decodes the input data $y[k]$." class="md-ellipsis">diff_<wbr>decode</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.diff_encode/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.diff_encode (Python function) — Differentially encodes the input data $x[k]$." class="md-ellipsis">diff_<wbr>encode</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4" type="checkbox" id="__nav_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../synchronization/"><span class="md-ellipsis">Synchronization</span></a>
+          
+            <label for="__nav_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Synchronization" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Synchronization</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1" type="checkbox" id="__nav_3_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ClosedLoopPLL (Python class) — A class that defines the performance of a closed-loop PLL." class="md-ellipsis">Closed<wbr>Loop<wbr>PLL</span></a>
+          
+            <label for="__nav_3_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="ClosedLoopPLL" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ClosedLoopPLL (Python class) — A class that defines the performance of a closed-loop PLL." class="md-ellipsis">Closed<wbr>Loop<wbr>PLL</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_1" type="checkbox" id="__nav_3_4_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.__init__ (Python method) — Creates a closed-loop PLL analysis object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_2" type="checkbox" id="__nav_3_4_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.frequency_lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.frequency_lock_time (Python method) — Returns the frequency lock time of the PLL." class="md-ellipsis">frequency_<wbr>lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.lock_time (Python method) — Returns the lock time of the PLL." class="md-ellipsis">lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.phase_error_variance/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.phase_error_variance (Python method) — Returns the variance of the phase error of the PLL in steady state." class="md-ellipsis">phase_<wbr>error_<wbr>variance</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.phase_lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.phase_lock_time (Python method) — Returns the phase lock time of the PLL." class="md-ellipsis">phase_<wbr>lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_3" type="checkbox" id="__nav_3_4_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.Bn/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.Bn (Python property) — The noise bandwidth $B_n$ of the PLL in Hz." class="md-ellipsis">Bn</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.BnT/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.BnT (Python property) — The normalized noise bandwidth $B_n T$ of the PLL." class="md-ellipsis">Bn<wbr>T</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.iir/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.iir (Python property) — The IIR filter that represents the closed-loop transfer function of the PLL." class="md-ellipsis">iir</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K0/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K0 (Python property) — The NCO gain $K_0$." class="md-ellipsis">K0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K1/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K1 (Python property) — The proportional gain $K_1$ of the loop filter." class="md-ellipsis">K1</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K2/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K2 (Python property) — The integral gain $K_2$ of the loop filter." class="md-ellipsis">K2</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.Kp/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.Kp (Python property) — The phase error detector (PED) gain $K_p$." class="md-ellipsis">Kp</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.omega_3dB/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.omega_3dB (Python property) — The 3-dB bandwidth $omega_{3textrm{dB}}$ of the PLL in radians/s." class="md-ellipsis">omega_<wbr>3d<wbr>B</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.omega_n/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.omega_n (Python property) — The natural frequency $omega_n$ of the PLL in radians/s." class="md-ellipsis">omega_<wbr>n</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.sample_rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.sample_rate (Python property) — The sample rate $f_s$ of the PLL in samples/s." class="md-ellipsis">sample_<wbr>rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.zeta/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.zeta (Python property) — The damping factor $zeta$ of the PLL." class="md-ellipsis">zeta</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2" type="checkbox" id="__nav_3_4_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.DDS (Python class) — Implements a direct digital synthesizer (DDS)." class="md-ellipsis">DDS</span></a>
+          
+            <label for="__nav_3_4_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="DDS" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.DDS (Python class) — Implements a direct digital synthesizer (DDS)." class="md-ellipsis">DDS</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_1" type="checkbox" id="__nav_3_4_2_1" >
+      
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+    <li class="md-nav__item">
+      <a href="../sdr.DDS.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.__init__ (Python method) — Creates a direct digital synthesizer (DDS)." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
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+      </nav>
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+          <a href="../sdr.DDS/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
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+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
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+        <label class="md-nav__title" for="__nav_3_4_2_2">
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+          <span class="md-ellipsis">Special methods</span>
+        </label>
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+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.__call__ (Python method) — Steps the DDS with the variable phase increment signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+      
+        
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+          <a href="../sdr.DDS/#methods"><span class="md-ellipsis">Methods</span></a>
+          
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+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
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+          
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+  
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+  
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+    <li class="md-nav__item">
+      <a href="../sdr.DDS.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.reset (Python method) — Resets the DDS." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.step/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.step (Python method) — Steps the DDS forward by $N$ samples." class="md-ellipsis">step</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_4" type="checkbox" id="__nav_3_4_2_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.nco/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.DDS.nco (Python property) — The numerically-controlled oscillator (NCO) used by the DDS." class="md-ellipsis">nco</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3" type="checkbox" id="__nav_3_4_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.LoopFilter (Python class) — Implements a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">Loop<wbr>Filter</span></a>
+          
+            <label for="__nav_3_4_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="LoopFilter" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.LoopFilter (Python class) — Implements a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">Loop<wbr>Filter</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
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+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_1" type="checkbox" id="__nav_3_4_3_1" >
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+        
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+          <a href="../sdr.LoopFilter/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
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+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
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+      
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+        <label class="md-nav__title" for="__nav_3_4_3_1">
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+          
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+  
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+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.__init__ (Python method) — Creates a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
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+        </ul>
+      </nav>
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+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_4_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
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+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.__call__ (Python method) — Filters the input signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
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+      
+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
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+  
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+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.reset (Python method) — Resets the loop filter." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
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+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_4" type="checkbox" id="__nav_3_4_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.damping_factor/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.damping_factor (Python property) — The damping factor $zeta$ of the loop filter. $zeta = 1$ is critically damped, $zeta &lt; 1$ is underdamped, and $zeta &gt; 1$ is overdamped." class="md-ellipsis">damping_<wbr>factor</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.iir/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.iir (Python property) — The underlying IIR filter used to implement the loop filter." class="md-ellipsis">iir</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.K1/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.K1 (Python property) — The proportional gain $K_1$ of the loop filter." class="md-ellipsis">K1</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.K2/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.K2 (Python property) — The integral gain $K_2$ of the loop filter." class="md-ellipsis">K2</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.noise_bandwidth/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.noise_bandwidth (Python property) — The normalized noise bandwidth $B_n T$ of the loop filter, where $B_n$ is the noise bandwidth in Hz and $T$ is the sampling period in seconds." class="md-ellipsis">noise_<wbr>bandwidth</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4" type="checkbox" id="__nav_3_4_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.NCO (Python class) — Implements a numerically-controlled oscillator (NCO)." class="md-ellipsis">NCO</span></a>
+          
+            <label for="__nav_3_4_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="NCO" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.NCO (Python class) — Implements a numerically-controlled oscillator (NCO)." class="md-ellipsis">NCO</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_1" type="checkbox" id="__nav_3_4_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.__init__ (Python method) — Creates a numerically-controlled oscillator (NCO)." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
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+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_2" type="checkbox" id="__nav_3_4_4_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_4_4_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.__call__ (Python method) — Steps the NCO with the variable-increment signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
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+  
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+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_3" type="checkbox" id="__nav_3_4_4_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_4_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.reset (Python method) — Resets the NCO." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.step/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.step (Python method) — Steps the NCO forward by $N$ samples." class="md-ellipsis">step</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_4" type="checkbox" id="__nav_3_4_4_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_4_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.increment/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.increment (Python property) — The constant accumulation $omega$ of the NCO in units/sample." class="md-ellipsis">increment</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.K0/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.K0 (Python property) — The NCO gain $K_0$." class="md-ellipsis">K0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.offset/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.offset (Python property) — The absolute offset $theta$ of the NCO in units." class="md-ellipsis">offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+          
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+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5" type="checkbox" id="__nav_3_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/"><span class="md-ellipsis">Measurement</span></a>
+          
+            <label for="__nav_3_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Measurement" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Measurement</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_1" type="checkbox" id="__nav_3_5_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#energy"><span class="md-ellipsis">Energy</span></a>
+          
+            <label for="__nav_3_5_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Energy" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Energy</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.energy/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.energy (Python function) — Measures the energy of a time-domain signal $x[n]$." class="md-ellipsis">energy</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
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+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_2" type="checkbox" id="__nav_3_5_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#power"><span class="md-ellipsis">Power</span></a>
+          
+            <label for="__nav_3_5_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Power" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Power</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.average_power/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.average_power (Python function) — Measures the average power of a time-domain signal $x[n]$." class="md-ellipsis">average_<wbr>power</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.papr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.papr (Python function) — Measures the peak-to-average power ratio (PAPR) of a time-domain signal $x[n]$." class="md-ellipsis">papr</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.peak_power/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.peak_power (Python function) — Measures the peak power of a time-domain signal $x[n]$." class="md-ellipsis">peak_<wbr>power</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_3" type="checkbox" id="__nav_3_5_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#voltage"><span class="md-ellipsis">Voltage</span></a>
+          
+            <label for="__nav_3_5_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Voltage" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Voltage</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.crest_factor/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.crest_factor (Python function) — Measures the crest factor of a time-domain signal $x[n]$." class="md-ellipsis">crest_<wbr>factor</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.peak_voltage/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.peak_voltage (Python function) — Measures the peak voltage of a time-domain signal $x[n]$." class="md-ellipsis">peak_<wbr>voltage</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.rms_voltage/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.rms_voltage (Python function) — Measures the root-mean-square (RMS) voltage of a time-domain signal $x[n]$." class="md-ellipsis">rms_<wbr>voltage</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4" type="checkbox" id="__nav_3_5_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#modulation"><span class="md-ellipsis">Modulation</span></a>
+          
+            <label for="__nav_3_5_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Modulation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Modulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1" type="checkbox" id="__nav_3_5_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ErrorRate (Python class) — A class for measuring bit error rates (BER) or symbol error rates (SER)." class="md-ellipsis">Error<wbr>Rate</span></a>
+          
+            <label for="__nav_3_5_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="ErrorRate" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_5_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ErrorRate (Python class) — A class for measuring bit error rates (BER) or symbol error rates (SER)." class="md-ellipsis">Error<wbr>Rate</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1_1" type="checkbox" id="__nav_3_5_4_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_5_4_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_5_4_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.__init__ (Python method) — Creates a new error rate tabulation object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1_2" type="checkbox" id="__nav_3_5_4_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_5_4_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_5_4_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.add/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.add (Python method) — Measures the number of bit or symbol errors at the given signal-to-noise ratio (SNR)." class="md-ellipsis">add</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.counts/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.counts (Python method) — Returns the number of counts at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">counts</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.error_rate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.error_rate (Python method) — Returns the error rate at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">error_<wbr>rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.error_rates/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.error_rates (Python method) — Returns all signal-to-noise ratios (SNRs) in ascending order and their corresponding error rates." class="md-ellipsis">error_<wbr>rates</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.errors/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.errors (Python method) — Returns the number of errors at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">errors</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.evm/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.evm (Python function) — Calculates the error-vector magnitude (EVM) of the complex symbols $hat{x}[k]$." class="md-ellipsis">evm</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6" type="checkbox" id="__nav_3_6" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/"><span class="md-ellipsis">Conversions</span></a>
+          
+            <label for="__nav_3_6">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Conversions" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_6">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Conversions</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_1" type="checkbox" id="__nav_3_6_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#decibels"><span class="md-ellipsis">Decibels</span></a>
+          
+            <label for="__nav_3_6_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Decibels" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Decibels</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.db/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.db (Python function) — Converts from linear units to decibels." class="md-ellipsis">db</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.linear/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.linear (Python function) — Converts from decibels to linear units." class="md-ellipsis">linear</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_2" type="checkbox" id="__nav_3_6_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-e-b-n-0"><span class="md-ellipsis">From E_<wbr>b/N_<wbr>0</span></a>
+          
+            <label for="__nav_3_6_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From E_b/N_0" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From E_<wbr>b/N_<wbr>0</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ebn0_to_esn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.ebn0_to_esn0 (Python function) — Converts from $E_b/N_0$ to $E_s/N_0$." class="md-ellipsis">ebn0_<wbr>to_<wbr>esn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ebn0_to_snr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.ebn0_to_snr (Python function) — Converts from $E_b/N_0$ to $S/N$." class="md-ellipsis">ebn0_<wbr>to_<wbr>snr</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_3" type="checkbox" id="__nav_3_6_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-e-s-n-0"><span class="md-ellipsis">From E_<wbr>s/N_<wbr>0</span></a>
+          
+            <label for="__nav_3_6_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From E_s/N_0" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From E_<wbr>s/N_<wbr>0</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.esn0_to_ebn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.esn0_to_ebn0 (Python function) — Converts from $E_s/N_0$ to $E_b/N_0$." class="md-ellipsis">esn0_<wbr>to_<wbr>ebn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.esn0_to_snr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.esn0_to_snr (Python function) — Converts from $E_s/N_0$ to $S/N$." class="md-ellipsis">esn0_<wbr>to_<wbr>snr</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_4" type="checkbox" id="__nav_3_6_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-s-n"><span class="md-ellipsis">From S/N</span></a>
+          
+            <label for="__nav_3_6_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From S/N" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From S/N</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.snr_to_ebn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.snr_to_ebn0 (Python function) — Converts from $S/N$ to $E_b/N_0$." class="md-ellipsis">snr_<wbr>to_<wbr>ebn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.snr_to_esn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.snr_to_esn0 (Python function) — Converts from $S/N$ to $E_s/N_0$." class="md-ellipsis">snr_<wbr>to_<wbr>esn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7" type="checkbox" id="__nav_3_7" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/"><span class="md-ellipsis">Simulation</span></a>
+          
+            <label for="__nav_3_7">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Simulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_7">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Simulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7_1" type="checkbox" id="__nav_3_7_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/#channel-models"><span class="md-ellipsis">Channel models</span></a>
+          
+            <label for="__nav_3_7_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Channel models" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_7_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Channel models</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bec/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bec (Python function) — Passes the binary input sequence $x$ through a binary erasure channel (BEC) with erasure probability $p$." class="md-ellipsis">bec</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bsc/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bsc (Python function) — Passes the binary input sequence $x$ through a binary symmetric channel (BSC) with transition probability $p$." class="md-ellipsis">bsc</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.dmc/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.dmc (Python function) — Passes the input sequence $x$ through a discrete memoryless channel (DMC) with transition probability matrix $P$." class="md-ellipsis">dmc</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7_2" type="checkbox" id="__nav_3_7_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/#signal-impairments"><span class="md-ellipsis">Signal impairments</span></a>
+          
+            <label for="__nav_3_7_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Signal impairments" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_7_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Signal impairments</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.awgn/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.awgn (Python function) — Adds additive white Gaussian noise (AWGN) to the time-domain signal $x[n]$." class="md-ellipsis">awgn</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.frequency_offset/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.frequency_offset (Python function) — Applies a frequency and phase offset to the time-domain signal $x[n]$." class="md-ellipsis">frequency_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.iq_imbalance/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.iq_imbalance (Python function) — Applies IQ imbalance to the complex time-domain signal $x[n]$." class="md-ellipsis">iq_<wbr>imbalance</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.sample_rate_offset/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.sample_rate_offset (Python function) — Applies a sample rate offset to the time-domain signal $x[n]$." class="md-ellipsis">sample_<wbr>rate_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8" type="checkbox" id="__nav_3_8" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/"><span class="md-ellipsis">Link budgets</span></a>
+          
+            <label for="__nav_3_8">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Link budgets" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_8">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Link budgets</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_1" type="checkbox" id="__nav_3_8_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#channel-capacity"><span class="md-ellipsis">Channel capacity</span></a>
+          
+            <label for="__nav_3_8_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Channel capacity" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Channel capacity</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.awgn_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.awgn_capacity (Python function) — Calculates the capacity of an additive white Gaussian noise (AWGN) channel." class="md-ellipsis">awgn_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bec_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bec_capacity (Python function) — Calculates the capacity of a binary erasure channel (BEC)." class="md-ellipsis">bec_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bsc_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bsc_capacity (Python function) — Calculates the capacity of a binary symmetric channel (BSC)." class="md-ellipsis">bsc_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_2" type="checkbox" id="__nav_3_8_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#path-losses"><span class="md-ellipsis">Path losses</span></a>
+          
+            <label for="__nav_3_8_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Path losses" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Path losses</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.fspl/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.fspl (Python function) — Calculates the free-space path loss (FSPL) in dB." class="md-ellipsis">fspl</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_3" type="checkbox" id="__nav_3_8_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#antennas"><span class="md-ellipsis">Antennas</span></a>
+          
+            <label for="__nav_3_8_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Antennas" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Antennas</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.parabolic_antenna/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.parabolic_antenna (Python function) — Calculates the gain $G$ and beamwidth $theta$ of a parabolic reflector." class="md-ellipsis">parabolic_<wbr>antenna</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_9" type="checkbox" id="__nav_3_9" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../probability/"><span class="md-ellipsis">Probability</span></a>
+          
+            <label for="__nav_3_9">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Probability" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_9">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Probability</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.Q/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.Q (Python function) — Computes the complementary cumulative distribution function $Q(x)$ of the standard normal distribution $mathcal{N}(0, 1)$." class="md-ellipsis">Q</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.Qinv/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.Qinv (Python function) — Computes the inverse complementary cumulative distribution function $Q^{-1}(p)$ of the standard normal distribution $mathcal{N}(0, 1)$." class="md-ellipsis">Qinv</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_10" type="checkbox" id="__nav_3_10" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../data-manipulation/"><span class="md-ellipsis">Data manipulation</span></a>
+          
+            <label for="__nav_3_10">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Data manipulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_10">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Data manipulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.hexdump/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.hexdump (Python function) — Returns a hexdump of the specified data." class="md-ellipsis">hexdump</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.pack/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.pack (Python function) — Packs a binary array into an array with multiple bits per element." class="md-ellipsis">pack</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.unpack/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.unpack (Python function) — Unpacks an array with multiple bits per element into a binary array." class="md-ellipsis">unpack</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
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+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11" type="checkbox" id="__nav_3_11" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/"><span class="md-ellipsis">Plotting</span></a>
+          
+            <label for="__nav_3_11">
+              <span class="md-nav__icon md-icon"></span>
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+          
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+      <nav class="md-nav" aria-label="Plotting" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_11">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Plotting</span>
+        </label>
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+          
+            
+              
+  
+  
+  
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+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_1" type="checkbox" id="__nav_3_11_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#configuration"><span class="md-ellipsis">Configuration</span></a>
+          
+            <label for="__nav_3_11_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Configuration" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Configuration</span>
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+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.use_style/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.use_style (Python function) — Applies sdr&#39;s default matplotlib rcParams." class="md-ellipsis">use_<wbr>style</span>
+      </a>
+    </li>
+  
+
+            
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+        </ul>
+      </nav>
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+      
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+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#time-domain"><span class="md-ellipsis">Time-<wbr>domain</span></a>
+          
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+              <span class="md-nav__icon md-icon"></span>
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+          
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+      
+      <nav class="md-nav" aria-label="Time-domain" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Time-<wbr>domain</span>
+        </label>
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+            
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.time_domain/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.time_domain (Python function) — Plots a time-domain signal $x[n]$." class="md-ellipsis">time_<wbr>domain</span>
+      </a>
+    </li>
+  
+
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#spectral-estimation"><span class="md-ellipsis">Spectral estimation</span></a>
+          
+            <label for="__nav_3_11_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Spectral estimation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Spectral estimation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.periodogram/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.periodogram (Python function) — Plots the estimated power spectral density $P_{xx}$ of a time-domain signal $x[n]$ using Welch&#39;s method." class="md-ellipsis">periodogram</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.spectrogram/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.spectrogram (Python function) — Plots the spectrogram of a time-domain signal $x[n]$ using Welch&#39;s method." class="md-ellipsis">spectrogram</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
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+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_4" type="checkbox" id="__nav_3_11_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#modulation"><span class="md-ellipsis">Modulation</span></a>
+          
+            <label for="__nav_3_11_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Modulation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Modulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.ber/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.ber (Python function) — Plots the bit error rate (BER) as a function of $E_b/N_0$." class="md-ellipsis">ber</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.constellation/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.constellation (Python function) — Plots the constellation of the complex symbols $hat{x}[k]$." class="md-ellipsis">constellation</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.ser/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.ser (Python function) — Plots the symbol error rate (SER) as a function of $E_s/N_0$." class="md-ellipsis">ser</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.symbol_map/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.symbol_map (Python function) — Plots the symbol map of the complex symbols $hat{x}[k]$." class="md-ellipsis">symbol_<wbr>map</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_5" type="checkbox" id="__nav_3_11_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#filter-analysis"><span class="md-ellipsis">Filter analysis</span></a>
+          
+            <label for="__nav_3_11_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Filter analysis" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Filter analysis</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.filter/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.filter (Python function) — Plots the frequency response $H(omega)$, impulse response $h[n]$, step response $s[n]$, and zeros and poles of the filter." class="md-ellipsis">filter</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.frequency_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.frequency_response (Python function) — Plots the frequency response $H(omega)$ of the filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.group_delay/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.group_delay (Python function) — Plots the group delay $tau_g(omega)$ of the IIR filter." class="md-ellipsis">group_<wbr>delay</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.impulse_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.impulse_response (Python function) — Plots the impulse response $h[n]$ of a filter." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.phase_delay/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.phase_delay (Python function) — Plots the phase delay $tau_{phi}(omega)$ of the filter." class="md-ellipsis">phase_<wbr>delay</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.phase_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.phase_response (Python function) — Plots the phase response $Theta(omega)$ of the filter." class="md-ellipsis">phase_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.step_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.step_response (Python function) — Plots the step response $s[n]$ of a filter." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.zeros_poles/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.zeros_poles (Python function) — Plots the zeros and poles of the filter." class="md-ellipsis">zeros_<wbr>poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+        <label class="md-nav__title" for="__nav_4">
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+    <li class="md-nav__item">
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+        <span class="md-ellipsis">Versioning</span>
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+    <li class="md-nav__item">
+      <a href="../../release-notes/v0.0/" class="md-nav__link">
+        <span class="md-ellipsis">v0.<wbr>0</span>
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+    </label>
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+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
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+                  
+
+
+<dl class="py method objdesc">
+<dt class="sig sig-object highlight py">
+<span class="sig-prename descclassname"><span class="pre">sdr.</span><span class="pre">FIR.</span></span><span class="sig-name descname"><span class="pre">__repr__</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.11)"><span class="pre">str</span></a></span></span></span></dt>
+<dd><p>Returns a code-styled string representation of the object.</p>
+<p class="example rubric" id="examples">Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></p>
+<div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [1]: </span><span class="n">h</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">root_raised_cosine</span><span class="p">(</span><span class="mf">0.5</span><span class="p">,</span> <span class="mi">6</span><span class="p">,</span> <span class="mi">5</span><span class="p">)</span>
+
+<span class="gp">In [2]: </span><span class="n">fir</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">FIR</span><span class="p">(</span><span class="n">h</span><span class="p">)</span>
+
+<span class="gp">In [3]: </span><span class="n">fir</span>
+<span class="gh">Out[3]: </span><span class="go">sdr.FIR([0.0013559842482209206, -0.005995136685669422, -0.00869881734251976, -0.002410376677289605, 0.010205586440861225, 0.018983779475092888, 0.011950905434787273, -0.015183938667178154, -0.051622189581394196, -0.07210389524698257, -0.047459449619054794, 0.039173517376184464, 0.1791868358850479, 0.3367363214492798, 0.4611457586288452, 0.5084040760993958, 0.4611457586288452, 0.3367363214492798, 0.1791868358850479, 0.039173517376184464, -0.047459449619054794, -0.07210389524698257, -0.051622189581394196, -0.015183938667178154, 0.011950905434787273, 0.018983779475092888, 0.010205586440861225, -0.002410376677289605, -0.00869881734251976, -0.005995136685669422, 0.0013559842482209206], streaming=False)</span>
+</code></pre></div>
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+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_2" type="checkbox" id="__nav_3_1_1_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_1_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__call__ (Python method) — Filters the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__len__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__len__ (Python method) — Returns the filter length $N$." class="md-ellipsis">__<wbr>len__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_3" type="checkbox" id="__nav_3_1_1_1_3" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_1_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the FIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the FIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the FIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.step_response (Python method) — Returns the step response $s[n]$ of the FIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.delay/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.delay (Python property) — The delay of the FIR filter in samples." class="md-ellipsis">delay</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.order (Python property) — The order of the FIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.taps (Python property) — The feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          
+            <label for="__nav_3_1_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_1" type="checkbox" id="__nav_3_1_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_2" type="checkbox" id="__nav_3_1_1_2_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_1_2_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_3" type="checkbox" id="__nav_3_1_1_2_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_1_2_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
+          
+            <label for="__nav_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_2_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
+          
+            <label for="__nav_3_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Resampling" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Resampling</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
+          
+            <label for="__nav_3_1_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_3_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.__init__ (Python method) — Creates a new Farrow arbitrary resampler." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.__call__ (Python method) — Resamples the input signal $x[n]$ by the given arbitrary rate $r$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
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+  
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+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_3_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.reset (Python method) — Streaming-mode only: Resets the filter state and fractional sample index." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_3_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.order (Python property) — The order of the filter." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.taps (Python property) — The Farrow filter taps." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+      </nav>
+    </li>
+  
+  
+
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+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
+          
+            <label for="__nav_3_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Signal manipulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.mix/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.mix (Python function) — Mixes the time-domain signal $x[n]$ with a complex exponential." class="md-ellipsis">mix</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.to_complex_bb/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.to_complex_bb (Python function) — Converts the real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r}$ to a complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c} = f_{s,r}/2$." class="md-ellipsis">to_<wbr>complex_<wbr>bb</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.to_real_pb/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.to_real_pb (Python function) — Converts the complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c}$ to a real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r} = 2f_{s,c}$." class="md-ellipsis">to_<wbr>real_<wbr>pb</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_2" type="checkbox" id="__nav_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sequences/"><span class="md-ellipsis">Sequences</span></a>
+          
+            <label for="__nav_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Sequences" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Sequences</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.barker/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.barker (Python function) — Returns the Barker code/sequence of length $N$." class="md-ellipsis">barker</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.zadoff_chu/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.zadoff_chu (Python function) — Returns the root-$u$ Zadoff-Chu sequence of length $N$." class="md-ellipsis">zadoff_<wbr>chu</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
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+  
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+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3" type="checkbox" id="__nav_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/"><span class="md-ellipsis">Modulation</span></a>
+          
+            <label for="__nav_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Modulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Modulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1" type="checkbox" id="__nav_3_3_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#classes"><span class="md-ellipsis">Classes</span></a>
+          
+            <label for="__nav_3_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Classes" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Classes</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1" type="checkbox" id="__nav_3_3_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.PSK (Python class) — Implements phase-shift keying (PSK) modulation and demodulation." class="md-ellipsis">PSK</span></a>
+          
+            <label for="__nav_3_3_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="PSK" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_3_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.PSK (Python class) — Implements phase-shift keying (PSK) modulation and demodulation." class="md-ellipsis">PSK</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_1" type="checkbox" id="__nav_3_3_1_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_3_1_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.__init__ (Python method) — Creates a new PSK object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_2" type="checkbox" id="__nav_3_3_1_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_3_1_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.ber/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.ber (Python method) — Computes the bit error rate (BER) at the provided $E_b/N_0$ values." class="md-ellipsis">ber</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.demodulate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.demodulate (Python method) — Demodulates the complex symbols $hat{x}[k]$ to decimal symbols $hat{s}[k]$ using maximum-likelihood estimation." class="md-ellipsis">demodulate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.modulate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.modulate (Python method) — Modulates to decimal symbols $s[k]$ to complex symbols $x[k]$." class="md-ellipsis">modulate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.ser/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.ser (Python method) — Computes the symbol error rate (SER) at the provided $E_s/N_0$ values." class="md-ellipsis">ser</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_3" type="checkbox" id="__nav_3_3_1_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_3_1_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.bps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.bps (Python property) — The number of bits per symbol $k = log_2 M$." class="md-ellipsis">bps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.order (Python property) — The modulation order $M = 2^k$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.phase_offset/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.phase_offset (Python property) — The phase offset $phi$ in degrees." class="md-ellipsis">phase_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.symbol_map/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.symbol_map (Python property) — The symbol map ${0, dots, M-1} mapsto mathbb{C}$. This maps decimal symbols from $0$ to $M-1$ to complex symbols." class="md-ellipsis">symbol_<wbr>map</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_2" type="checkbox" id="__nav_3_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#pulse-shaping"><span class="md-ellipsis">Pulse shaping</span></a>
+          
+            <label for="__nav_3_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Pulse shaping" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Pulse shaping</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.gaussian/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.gaussian (Python function) — Returns a Gaussian pulse shape." class="md-ellipsis">gaussian</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.raised_cosine/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.raised_cosine (Python function) — Returns a raised cosine (RC) pulse shape." class="md-ellipsis">raised_<wbr>cosine</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.root_raised_cosine/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.root_raised_cosine (Python function) — Returns a square root raised cosine (SRRC) pulse shape." class="md-ellipsis">root_<wbr>raised_<wbr>cosine</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_3" type="checkbox" id="__nav_3_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#symbol-mapping"><span class="md-ellipsis">Symbol mapping</span></a>
+          
+            <label for="__nav_3_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Symbol mapping" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Symbol mapping</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.binary_code/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.binary_code (Python function) — Generates a binary code of length $2^n$." class="md-ellipsis">binary_<wbr>code</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.gray_code/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.gray_code (Python function) — Generates a Gray code of length $2^n$." class="md-ellipsis">gray_<wbr>code</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_4" type="checkbox" id="__nav_3_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#symbol-encoding"><span class="md-ellipsis">Symbol encoding</span></a>
+          
+            <label for="__nav_3_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Symbol encoding" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Symbol encoding</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.diff_decode/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.diff_decode (Python function) — Differentially decodes the input data $y[k]$." class="md-ellipsis">diff_<wbr>decode</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.diff_encode/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.diff_encode (Python function) — Differentially encodes the input data $x[k]$." class="md-ellipsis">diff_<wbr>encode</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4" type="checkbox" id="__nav_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../synchronization/"><span class="md-ellipsis">Synchronization</span></a>
+          
+            <label for="__nav_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Synchronization" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Synchronization</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1" type="checkbox" id="__nav_3_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ClosedLoopPLL (Python class) — A class that defines the performance of a closed-loop PLL." class="md-ellipsis">Closed<wbr>Loop<wbr>PLL</span></a>
+          
+            <label for="__nav_3_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="ClosedLoopPLL" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ClosedLoopPLL (Python class) — A class that defines the performance of a closed-loop PLL." class="md-ellipsis">Closed<wbr>Loop<wbr>PLL</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_1" type="checkbox" id="__nav_3_4_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.__init__ (Python method) — Creates a closed-loop PLL analysis object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_2" type="checkbox" id="__nav_3_4_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.frequency_lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.frequency_lock_time (Python method) — Returns the frequency lock time of the PLL." class="md-ellipsis">frequency_<wbr>lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.lock_time (Python method) — Returns the lock time of the PLL." class="md-ellipsis">lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.phase_error_variance/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.phase_error_variance (Python method) — Returns the variance of the phase error of the PLL in steady state." class="md-ellipsis">phase_<wbr>error_<wbr>variance</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.phase_lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.phase_lock_time (Python method) — Returns the phase lock time of the PLL." class="md-ellipsis">phase_<wbr>lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_3" type="checkbox" id="__nav_3_4_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.Bn/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.Bn (Python property) — The noise bandwidth $B_n$ of the PLL in Hz." class="md-ellipsis">Bn</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.BnT/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.BnT (Python property) — The normalized noise bandwidth $B_n T$ of the PLL." class="md-ellipsis">Bn<wbr>T</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.iir/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.iir (Python property) — The IIR filter that represents the closed-loop transfer function of the PLL." class="md-ellipsis">iir</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K0/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K0 (Python property) — The NCO gain $K_0$." class="md-ellipsis">K0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K1/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K1 (Python property) — The proportional gain $K_1$ of the loop filter." class="md-ellipsis">K1</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K2/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K2 (Python property) — The integral gain $K_2$ of the loop filter." class="md-ellipsis">K2</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.Kp/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.Kp (Python property) — The phase error detector (PED) gain $K_p$." class="md-ellipsis">Kp</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.omega_3dB/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.omega_3dB (Python property) — The 3-dB bandwidth $omega_{3textrm{dB}}$ of the PLL in radians/s." class="md-ellipsis">omega_<wbr>3d<wbr>B</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.omega_n/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.omega_n (Python property) — The natural frequency $omega_n$ of the PLL in radians/s." class="md-ellipsis">omega_<wbr>n</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.sample_rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.sample_rate (Python property) — The sample rate $f_s$ of the PLL in samples/s." class="md-ellipsis">sample_<wbr>rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.zeta/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.zeta (Python property) — The damping factor $zeta$ of the PLL." class="md-ellipsis">zeta</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2" type="checkbox" id="__nav_3_4_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.DDS (Python class) — Implements a direct digital synthesizer (DDS)." class="md-ellipsis">DDS</span></a>
+          
+            <label for="__nav_3_4_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="DDS" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.DDS (Python class) — Implements a direct digital synthesizer (DDS)." class="md-ellipsis">DDS</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_1" type="checkbox" id="__nav_3_4_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.__init__ (Python method) — Creates a direct digital synthesizer (DDS)." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
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+      
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+      
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+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
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+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
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+        <label class="md-nav__title" for="__nav_3_4_2_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.__call__ (Python method) — Steps the DDS with the variable phase increment signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+      
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+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_3" type="checkbox" id="__nav_3_4_2_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_2_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
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+          
+            
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.reset (Python method) — Resets the DDS." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.step/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.step (Python method) — Steps the DDS forward by $N$ samples." class="md-ellipsis">step</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_4" type="checkbox" id="__nav_3_4_2_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.nco/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.DDS.nco (Python property) — The numerically-controlled oscillator (NCO) used by the DDS." class="md-ellipsis">nco</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3" type="checkbox" id="__nav_3_4_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.LoopFilter (Python class) — Implements a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">Loop<wbr>Filter</span></a>
+          
+            <label for="__nav_3_4_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="LoopFilter" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.LoopFilter (Python class) — Implements a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">Loop<wbr>Filter</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
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+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_1" type="checkbox" id="__nav_3_4_3_1" >
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+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.__init__ (Python method) — Creates a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
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+        </ul>
+      </nav>
+    </li>
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+      
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+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_2" type="checkbox" id="__nav_3_4_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_4_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.__call__ (Python method) — Filters the input signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_3" type="checkbox" id="__nav_3_4_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.reset (Python method) — Resets the loop filter." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
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+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_4" type="checkbox" id="__nav_3_4_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.damping_factor/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.damping_factor (Python property) — The damping factor $zeta$ of the loop filter. $zeta = 1$ is critically damped, $zeta &lt; 1$ is underdamped, and $zeta &gt; 1$ is overdamped." class="md-ellipsis">damping_<wbr>factor</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.iir/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.iir (Python property) — The underlying IIR filter used to implement the loop filter." class="md-ellipsis">iir</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.K1/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.K1 (Python property) — The proportional gain $K_1$ of the loop filter." class="md-ellipsis">K1</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.K2/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.K2 (Python property) — The integral gain $K_2$ of the loop filter." class="md-ellipsis">K2</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.noise_bandwidth/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.noise_bandwidth (Python property) — The normalized noise bandwidth $B_n T$ of the loop filter, where $B_n$ is the noise bandwidth in Hz and $T$ is the sampling period in seconds." class="md-ellipsis">noise_<wbr>bandwidth</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4" type="checkbox" id="__nav_3_4_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.NCO (Python class) — Implements a numerically-controlled oscillator (NCO)." class="md-ellipsis">NCO</span></a>
+          
+            <label for="__nav_3_4_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="NCO" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.NCO (Python class) — Implements a numerically-controlled oscillator (NCO)." class="md-ellipsis">NCO</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_1" type="checkbox" id="__nav_3_4_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.__init__ (Python method) — Creates a numerically-controlled oscillator (NCO)." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_2" type="checkbox" id="__nav_3_4_4_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_4_4_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.__call__ (Python method) — Steps the NCO with the variable-increment signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
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+  
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+  
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+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_3" type="checkbox" id="__nav_3_4_4_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_4_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.reset (Python method) — Resets the NCO." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.step/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.step (Python method) — Steps the NCO forward by $N$ samples." class="md-ellipsis">step</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
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+  
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+  
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+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_4" type="checkbox" id="__nav_3_4_4_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_4_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.increment/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.increment (Python property) — The constant accumulation $omega$ of the NCO in units/sample." class="md-ellipsis">increment</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.K0/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.K0 (Python property) — The NCO gain $K_0$." class="md-ellipsis">K0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.offset/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.offset (Python property) — The absolute offset $theta$ of the NCO in units." class="md-ellipsis">offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5" type="checkbox" id="__nav_3_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/"><span class="md-ellipsis">Measurement</span></a>
+          
+            <label for="__nav_3_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Measurement" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Measurement</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_1" type="checkbox" id="__nav_3_5_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#energy"><span class="md-ellipsis">Energy</span></a>
+          
+            <label for="__nav_3_5_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Energy" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Energy</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.energy/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.energy (Python function) — Measures the energy of a time-domain signal $x[n]$." class="md-ellipsis">energy</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_2" type="checkbox" id="__nav_3_5_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#power"><span class="md-ellipsis">Power</span></a>
+          
+            <label for="__nav_3_5_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Power" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Power</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.average_power/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.average_power (Python function) — Measures the average power of a time-domain signal $x[n]$." class="md-ellipsis">average_<wbr>power</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.papr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.papr (Python function) — Measures the peak-to-average power ratio (PAPR) of a time-domain signal $x[n]$." class="md-ellipsis">papr</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.peak_power/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.peak_power (Python function) — Measures the peak power of a time-domain signal $x[n]$." class="md-ellipsis">peak_<wbr>power</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_3" type="checkbox" id="__nav_3_5_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#voltage"><span class="md-ellipsis">Voltage</span></a>
+          
+            <label for="__nav_3_5_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Voltage" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Voltage</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.crest_factor/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.crest_factor (Python function) — Measures the crest factor of a time-domain signal $x[n]$." class="md-ellipsis">crest_<wbr>factor</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.peak_voltage/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.peak_voltage (Python function) — Measures the peak voltage of a time-domain signal $x[n]$." class="md-ellipsis">peak_<wbr>voltage</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.rms_voltage/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.rms_voltage (Python function) — Measures the root-mean-square (RMS) voltage of a time-domain signal $x[n]$." class="md-ellipsis">rms_<wbr>voltage</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4" type="checkbox" id="__nav_3_5_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#modulation"><span class="md-ellipsis">Modulation</span></a>
+          
+            <label for="__nav_3_5_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Modulation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Modulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1" type="checkbox" id="__nav_3_5_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ErrorRate (Python class) — A class for measuring bit error rates (BER) or symbol error rates (SER)." class="md-ellipsis">Error<wbr>Rate</span></a>
+          
+            <label for="__nav_3_5_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="ErrorRate" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_5_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ErrorRate (Python class) — A class for measuring bit error rates (BER) or symbol error rates (SER)." class="md-ellipsis">Error<wbr>Rate</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1_1" type="checkbox" id="__nav_3_5_4_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_5_4_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_5_4_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.__init__ (Python method) — Creates a new error rate tabulation object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1_2" type="checkbox" id="__nav_3_5_4_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_5_4_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_5_4_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.add/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.add (Python method) — Measures the number of bit or symbol errors at the given signal-to-noise ratio (SNR)." class="md-ellipsis">add</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.counts/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.counts (Python method) — Returns the number of counts at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">counts</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.error_rate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.error_rate (Python method) — Returns the error rate at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">error_<wbr>rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.error_rates/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.error_rates (Python method) — Returns all signal-to-noise ratios (SNRs) in ascending order and their corresponding error rates." class="md-ellipsis">error_<wbr>rates</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.errors/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.errors (Python method) — Returns the number of errors at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">errors</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.evm/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.evm (Python function) — Calculates the error-vector magnitude (EVM) of the complex symbols $hat{x}[k]$." class="md-ellipsis">evm</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6" type="checkbox" id="__nav_3_6" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/"><span class="md-ellipsis">Conversions</span></a>
+          
+            <label for="__nav_3_6">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Conversions" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_6">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Conversions</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_1" type="checkbox" id="__nav_3_6_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#decibels"><span class="md-ellipsis">Decibels</span></a>
+          
+            <label for="__nav_3_6_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Decibels" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Decibels</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.db/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.db (Python function) — Converts from linear units to decibels." class="md-ellipsis">db</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.linear/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.linear (Python function) — Converts from decibels to linear units." class="md-ellipsis">linear</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_2" type="checkbox" id="__nav_3_6_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-e-b-n-0"><span class="md-ellipsis">From E_<wbr>b/N_<wbr>0</span></a>
+          
+            <label for="__nav_3_6_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From E_b/N_0" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From E_<wbr>b/N_<wbr>0</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ebn0_to_esn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.ebn0_to_esn0 (Python function) — Converts from $E_b/N_0$ to $E_s/N_0$." class="md-ellipsis">ebn0_<wbr>to_<wbr>esn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ebn0_to_snr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.ebn0_to_snr (Python function) — Converts from $E_b/N_0$ to $S/N$." class="md-ellipsis">ebn0_<wbr>to_<wbr>snr</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_3" type="checkbox" id="__nav_3_6_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-e-s-n-0"><span class="md-ellipsis">From E_<wbr>s/N_<wbr>0</span></a>
+          
+            <label for="__nav_3_6_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From E_s/N_0" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From E_<wbr>s/N_<wbr>0</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.esn0_to_ebn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.esn0_to_ebn0 (Python function) — Converts from $E_s/N_0$ to $E_b/N_0$." class="md-ellipsis">esn0_<wbr>to_<wbr>ebn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.esn0_to_snr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.esn0_to_snr (Python function) — Converts from $E_s/N_0$ to $S/N$." class="md-ellipsis">esn0_<wbr>to_<wbr>snr</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_4" type="checkbox" id="__nav_3_6_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-s-n"><span class="md-ellipsis">From S/N</span></a>
+          
+            <label for="__nav_3_6_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From S/N" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From S/N</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.snr_to_ebn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.snr_to_ebn0 (Python function) — Converts from $S/N$ to $E_b/N_0$." class="md-ellipsis">snr_<wbr>to_<wbr>ebn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.snr_to_esn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.snr_to_esn0 (Python function) — Converts from $S/N$ to $E_s/N_0$." class="md-ellipsis">snr_<wbr>to_<wbr>esn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7" type="checkbox" id="__nav_3_7" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/"><span class="md-ellipsis">Simulation</span></a>
+          
+            <label for="__nav_3_7">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Simulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_7">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Simulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7_1" type="checkbox" id="__nav_3_7_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/#channel-models"><span class="md-ellipsis">Channel models</span></a>
+          
+            <label for="__nav_3_7_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Channel models" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_7_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Channel models</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bec/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bec (Python function) — Passes the binary input sequence $x$ through a binary erasure channel (BEC) with erasure probability $p$." class="md-ellipsis">bec</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bsc/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bsc (Python function) — Passes the binary input sequence $x$ through a binary symmetric channel (BSC) with transition probability $p$." class="md-ellipsis">bsc</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.dmc/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.dmc (Python function) — Passes the input sequence $x$ through a discrete memoryless channel (DMC) with transition probability matrix $P$." class="md-ellipsis">dmc</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7_2" type="checkbox" id="__nav_3_7_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/#signal-impairments"><span class="md-ellipsis">Signal impairments</span></a>
+          
+            <label for="__nav_3_7_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Signal impairments" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_7_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Signal impairments</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.awgn/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.awgn (Python function) — Adds additive white Gaussian noise (AWGN) to the time-domain signal $x[n]$." class="md-ellipsis">awgn</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.frequency_offset/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.frequency_offset (Python function) — Applies a frequency and phase offset to the time-domain signal $x[n]$." class="md-ellipsis">frequency_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.iq_imbalance/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.iq_imbalance (Python function) — Applies IQ imbalance to the complex time-domain signal $x[n]$." class="md-ellipsis">iq_<wbr>imbalance</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.sample_rate_offset/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.sample_rate_offset (Python function) — Applies a sample rate offset to the time-domain signal $x[n]$." class="md-ellipsis">sample_<wbr>rate_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8" type="checkbox" id="__nav_3_8" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/"><span class="md-ellipsis">Link budgets</span></a>
+          
+            <label for="__nav_3_8">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Link budgets" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_8">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Link budgets</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_1" type="checkbox" id="__nav_3_8_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#channel-capacity"><span class="md-ellipsis">Channel capacity</span></a>
+          
+            <label for="__nav_3_8_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Channel capacity" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Channel capacity</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.awgn_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.awgn_capacity (Python function) — Calculates the capacity of an additive white Gaussian noise (AWGN) channel." class="md-ellipsis">awgn_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bec_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bec_capacity (Python function) — Calculates the capacity of a binary erasure channel (BEC)." class="md-ellipsis">bec_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bsc_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bsc_capacity (Python function) — Calculates the capacity of a binary symmetric channel (BSC)." class="md-ellipsis">bsc_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_2" type="checkbox" id="__nav_3_8_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#path-losses"><span class="md-ellipsis">Path losses</span></a>
+          
+            <label for="__nav_3_8_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Path losses" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Path losses</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.fspl/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.fspl (Python function) — Calculates the free-space path loss (FSPL) in dB." class="md-ellipsis">fspl</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_3" type="checkbox" id="__nav_3_8_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#antennas"><span class="md-ellipsis">Antennas</span></a>
+          
+            <label for="__nav_3_8_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Antennas" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Antennas</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.parabolic_antenna/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.parabolic_antenna (Python function) — Calculates the gain $G$ and beamwidth $theta$ of a parabolic reflector." class="md-ellipsis">parabolic_<wbr>antenna</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_9" type="checkbox" id="__nav_3_9" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../probability/"><span class="md-ellipsis">Probability</span></a>
+          
+            <label for="__nav_3_9">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Probability" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_9">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Probability</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.Q/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.Q (Python function) — Computes the complementary cumulative distribution function $Q(x)$ of the standard normal distribution $mathcal{N}(0, 1)$." class="md-ellipsis">Q</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.Qinv/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.Qinv (Python function) — Computes the inverse complementary cumulative distribution function $Q^{-1}(p)$ of the standard normal distribution $mathcal{N}(0, 1)$." class="md-ellipsis">Qinv</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_10" type="checkbox" id="__nav_3_10" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../data-manipulation/"><span class="md-ellipsis">Data manipulation</span></a>
+          
+            <label for="__nav_3_10">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Data manipulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_10">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Data manipulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.hexdump/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.hexdump (Python function) — Returns a hexdump of the specified data." class="md-ellipsis">hexdump</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.pack/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.pack (Python function) — Packs a binary array into an array with multiple bits per element." class="md-ellipsis">pack</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.unpack/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.unpack (Python function) — Unpacks an array with multiple bits per element into a binary array." class="md-ellipsis">unpack</span>
+      </a>
+    </li>
+  
+
+            
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+    <li class="md-nav__item">
+      <a href="../sdr.plot.use_style/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.use_style (Python function) — Applies sdr&#39;s default matplotlib rcParams." class="md-ellipsis">use_<wbr>style</span>
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+    <li class="md-nav__item">
+      <a href="../sdr.plot.time_domain/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.time_domain (Python function) — Plots a time-domain signal $x[n]$." class="md-ellipsis">time_<wbr>domain</span>
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.periodogram/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.periodogram (Python function) — Plots the estimated power spectral density $P_{xx}$ of a time-domain signal $x[n]$ using Welch&#39;s method." class="md-ellipsis">periodogram</span>
+      </a>
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+
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+      <a href="../sdr.plot.spectrogram/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.spectrogram (Python function) — Plots the spectrogram of a time-domain signal $x[n]$ using Welch&#39;s method." class="md-ellipsis">spectrogram</span>
+      </a>
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+            
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.ber/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.ber (Python function) — Plots the bit error rate (BER) as a function of $E_b/N_0$." class="md-ellipsis">ber</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.constellation/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.constellation (Python function) — Plots the constellation of the complex symbols $hat{x}[k]$." class="md-ellipsis">constellation</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.ser/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.ser (Python function) — Plots the symbol error rate (SER) as a function of $E_s/N_0$." class="md-ellipsis">ser</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.symbol_map/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.symbol_map (Python function) — Plots the symbol map of the complex symbols $hat{x}[k]$." class="md-ellipsis">symbol_<wbr>map</span>
+      </a>
+    </li>
+  
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+          
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+      
+      <nav class="md-nav" aria-label="Filter analysis" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Filter analysis</span>
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+          
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+  
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+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.filter/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.filter (Python function) — Plots the frequency response $H(omega)$, impulse response $h[n]$, step response $s[n]$, and zeros and poles of the filter." class="md-ellipsis">filter</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.frequency_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.frequency_response (Python function) — Plots the frequency response $H(omega)$ of the filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.group_delay/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.group_delay (Python function) — Plots the group delay $tau_g(omega)$ of the IIR filter." class="md-ellipsis">group_<wbr>delay</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.impulse_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.impulse_response (Python function) — Plots the impulse response $h[n]$ of a filter." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.phase_delay/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.phase_delay (Python function) — Plots the phase delay $tau_{phi}(omega)$ of the filter." class="md-ellipsis">phase_<wbr>delay</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.phase_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.phase_response (Python function) — Plots the phase response $Theta(omega)$ of the filter." class="md-ellipsis">phase_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.step_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.step_response (Python function) — Plots the step response $s[n]$ of a filter." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.zeros_poles/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.zeros_poles (Python function) — Plots the zeros and poles of the filter." class="md-ellipsis">zeros_<wbr>poles</span>
+      </a>
+    </li>
+  
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+                  
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+
+<dl class="py method objdesc">
+<dt class="sig sig-object highlight py">
+<span class="sig-prename descclassname"><span class="pre">sdr.</span><span class="pre">FIR.</span></span><span class="sig-name descname"><span class="pre">__str__</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.11)"><span class="pre">str</span></a></span></span></span></dt>
+<dd><p>Returns a human-readable string representation of the object.</p>
+<p class="example rubric" id="examples">Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></p>
+<div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [1]: </span><span class="n">h</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">root_raised_cosine</span><span class="p">(</span><span class="mf">0.5</span><span class="p">,</span> <span class="mi">6</span><span class="p">,</span> <span class="mi">5</span><span class="p">)</span>
+
+<span class="gp">In [2]: </span><span class="n">fir</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">FIR</span><span class="p">(</span><span class="n">h</span><span class="p">)</span>
+
+<span class="gp">In [3]: </span><span class="nb">print</span><span class="p">(</span><span class="n">fir</span><span class="p">)</span>
+<span class="go">sdr.FIR:</span>
+<span class="go">  order: 30</span>
+<span class="go">  taps: (31,) shape</span>
+<span class="go">    [0.0013559842482209206, -0.005995136685669422, -0.00869881734251976, -0.002410376677289605, 0.010205586440861225, 0.018983779475092888, 0.011950905434787273, -0.015183938667178154, -0.051622189581394196, -0.07210389524698257, -0.047459449619054794, 0.039173517376184464, 0.1791868358850479, 0.3367363214492798, 0.4611457586288452, 0.5084040760993958, 0.4611457586288452, 0.3367363214492798, 0.1791868358850479, 0.039173517376184464, -0.047459449619054794, -0.07210389524698257, -0.051622189581394196, -0.015183938667178154, 0.011950905434787273, 0.018983779475092888, 0.010205586440861225, -0.002410376677289605, -0.00869881734251976, -0.005995136685669422, 0.0013559842482209206]</span>
+<span class="go">  delay: 15</span>
+<span class="go">  streaming: False</span>
+</code></pre></div>
+</div>
+</dd></dl>
+
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diff --git a/v0.0.x/api/sdr.FIR.delay/index.html b/v0.0.x/api/sdr.FIR.delay/index.html
index 0c58e5eeb..15d0d77cf 100644
--- a/v0.0.x/api/sdr.FIR.delay/index.html
+++ b/v0.0.x/api/sdr.FIR.delay/index.html
@@ -838,7 +838,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -846,8 +846,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" checked>
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@@ -955,14 +1023,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1097,7 +1165,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
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               <span class="md-nav__icon md-icon"></span>
@@ -1105,10 +1173,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1127,7 +1195,7 @@
       
         
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-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
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               <span class="md-nav__icon md-icon"></span>
@@ -1149,8 +1217,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1202,8 +1285,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
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@@ -1233,7 +1316,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1241,10 +1324,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
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           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1255,8 +1338,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1286,7 +1384,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1294,10 +1392,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1308,8 +1406,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1323,8 +1421,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1338,8 +1436,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1353,19 +1451,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
   
   
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1386,24 +1491,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1412,30 +1517,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1444,8 +1564,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1459,8 +1579,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1475,6 +1625,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1484,24 +1650,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1512,8 +1738,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1537,24 +1763,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1565,26 +1791,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1593,15 +1812,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1610,8 +1844,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1625,8 +1859,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1650,24 +1884,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1678,26 +1912,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1706,15 +1933,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1723,8 +1965,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1738,8 +1980,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1753,8 +1995,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1768,8 +2010,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1792,6 +2034,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1809,7 +2066,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1817,14 +2074,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1839,7 +2096,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1847,14 +2104,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1869,7 +2126,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1877,14 +2134,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1922,7 +2179,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1930,14 +2187,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1975,7 +2232,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1983,14 +2240,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2028,7 +2285,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2036,14 +2293,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2127,7 +2384,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2135,14 +2392,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.FIR.frequency_response/index.html b/v0.0.x/api/sdr.FIR.frequency_response/index.html
index 5a1f81190..d5a15027b 100644
--- a/v0.0.x/api/sdr.FIR.frequency_response/index.html
+++ b/v0.0.x/api/sdr.FIR.frequency_response/index.html
@@ -827,6 +827,74 @@
               
   
   
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_3" type="checkbox" id="__nav_3_1_1_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_1_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
     
   
   
@@ -834,7 +902,7 @@
     <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_3" type="checkbox" id="__nav_3_1_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" checked>
       
       
       
@@ -842,14 +910,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_1_3">
+            <label for="__nav_3_1_1_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_3">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1019,7 +1087,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -1027,14 +1095,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1131,7 +1199,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1139,10 +1207,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1161,7 +1229,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1183,8 +1251,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1214,7 +1297,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1236,8 +1319,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1267,7 +1350,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1275,10 +1358,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1289,8 +1372,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1320,7 +1418,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1328,10 +1426,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1342,8 +1440,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1357,8 +1455,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1372,8 +1470,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1387,19 +1485,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
   
   
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1420,24 +1525,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1446,30 +1551,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1478,8 +1598,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1493,8 +1613,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1509,6 +1659,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1518,24 +1684,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1546,8 +1772,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1571,24 +1797,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1599,26 +1825,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1627,15 +1846,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1644,8 +1878,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1659,8 +1893,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1684,24 +1918,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1712,26 +1946,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1740,15 +1967,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1757,8 +1999,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1772,8 +2014,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1787,8 +2029,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1802,8 +2044,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1826,6 +2068,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1843,7 +2100,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1851,14 +2108,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1873,7 +2130,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1881,14 +2138,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1903,7 +2160,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1911,14 +2168,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1956,7 +2213,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1964,14 +2221,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -2009,7 +2266,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -2017,14 +2274,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2062,7 +2319,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2070,14 +2327,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2161,7 +2418,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2169,14 +2426,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -6339,7 +6596,7 @@
     <nav class="md-footer__inner md-grid" aria-label="Footer" >
       
         
-        <a href="../sdr.FIR.__len__/" class="md-footer__link md-footer__link--prev" aria-label="Previous: sdr.FIR.__len__" rel="prev">
+        <a href="../sdr.FIR.__str__/" class="md-footer__link md-footer__link--prev" aria-label="Previous: sdr.FIR.__str__" rel="prev">
           <div class="md-footer__button md-icon">
             <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
           </div>
@@ -6348,7 +6605,7 @@
               <span class="md-footer__direction">
                 Previous
               </span>
-              sdr.FIR.__len__
+              sdr.FIR.__str__
             </div>
           </div>
         </a>
diff --git a/v0.0.x/api/sdr.FIR.frequency_response_log/index.html b/v0.0.x/api/sdr.FIR.frequency_response_log/index.html
index 9770b2142..414d07ffa 100644
--- a/v0.0.x/api/sdr.FIR.frequency_response_log/index.html
+++ b/v0.0.x/api/sdr.FIR.frequency_response_log/index.html
@@ -827,6 +827,74 @@
               
   
   
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_3" type="checkbox" id="__nav_3_1_1_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_1_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
     
   
   
@@ -834,7 +902,7 @@
     <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_3" type="checkbox" id="__nav_3_1_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" checked>
       
       
       
@@ -842,14 +910,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_1_3">
+            <label for="__nav_3_1_1_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_3">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1026,7 +1094,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -1034,14 +1102,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1138,7 +1206,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1146,10 +1214,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1168,7 +1236,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1190,8 +1258,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1221,7 +1304,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1243,8 +1326,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1274,7 +1357,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1282,10 +1365,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1296,8 +1379,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1327,7 +1425,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1335,10 +1433,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1349,8 +1447,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1364,8 +1462,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1379,8 +1477,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1394,19 +1492,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
   
   
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1427,24 +1532,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1453,30 +1558,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1485,8 +1605,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1500,8 +1620,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1516,6 +1666,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1525,24 +1691,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1553,8 +1779,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1578,24 +1804,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1606,26 +1832,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1634,15 +1853,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1651,8 +1885,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1666,8 +1900,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1691,24 +1925,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1719,26 +1953,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1747,15 +1974,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1764,8 +2006,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1779,8 +2021,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1794,8 +2036,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1809,8 +2051,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1833,6 +2075,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1850,7 +2107,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1858,14 +2115,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1880,7 +2137,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1888,14 +2145,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1910,7 +2167,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1918,14 +2175,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1963,7 +2220,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1971,14 +2228,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -2016,7 +2273,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -2024,14 +2281,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2069,7 +2326,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2077,14 +2334,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2168,7 +2425,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2176,14 +2433,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.FIR.impulse_response/index.html b/v0.0.x/api/sdr.FIR.impulse_response/index.html
index b84e18160..fb5855199 100644
--- a/v0.0.x/api/sdr.FIR.impulse_response/index.html
+++ b/v0.0.x/api/sdr.FIR.impulse_response/index.html
@@ -827,6 +827,74 @@
               
   
   
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_3" type="checkbox" id="__nav_3_1_1_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_1_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
     
   
   
@@ -834,7 +902,7 @@
     <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_3" type="checkbox" id="__nav_3_1_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" checked>
       
       
       
@@ -842,14 +910,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_1_3">
+            <label for="__nav_3_1_1_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_3">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1012,7 +1080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -1020,14 +1088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1124,7 +1192,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1132,10 +1200,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1154,7 +1222,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1176,8 +1244,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1207,7 +1290,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1229,8 +1312,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1260,7 +1343,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1268,10 +1351,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1282,8 +1365,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1313,7 +1411,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1321,10 +1419,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1335,8 +1433,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1350,8 +1448,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1365,8 +1463,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1380,19 +1478,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
   
   
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1413,24 +1518,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1439,30 +1544,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1471,8 +1591,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1486,8 +1606,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1502,6 +1652,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1511,24 +1677,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1539,8 +1765,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1564,24 +1790,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1592,26 +1818,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1620,15 +1839,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1637,8 +1871,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1652,8 +1886,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1677,24 +1911,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1705,26 +1939,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1733,15 +1960,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1750,8 +1992,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1765,8 +2007,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1780,8 +2022,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1795,8 +2037,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1819,6 +2061,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1836,7 +2093,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1844,14 +2101,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1866,7 +2123,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1874,14 +2131,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1896,7 +2153,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1904,14 +2161,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1949,7 +2206,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1957,14 +2214,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -2010,14 +2267,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2055,7 +2312,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2063,14 +2320,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2154,7 +2411,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2162,14 +2419,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.FIR.order/index.html b/v0.0.x/api/sdr.FIR.order/index.html
index 3d25fa62a..d8c27442a 100644
--- a/v0.0.x/api/sdr.FIR.order/index.html
+++ b/v0.0.x/api/sdr.FIR.order/index.html
@@ -838,7 +838,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -846,8 +846,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -947,7 +1015,7 @@
     <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" checked>
       
       
       
@@ -955,14 +1023,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1097,7 +1165,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1105,10 +1173,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1127,7 +1195,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1149,8 +1217,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1180,7 +1263,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1202,8 +1285,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1233,7 +1316,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1241,10 +1324,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1255,8 +1338,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
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@@ -1286,7 +1384,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1294,10 +1392,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1308,8 +1406,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1323,8 +1421,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1338,8 +1436,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1353,19 +1451,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
   
   
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1386,24 +1491,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1412,30 +1517,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1444,8 +1564,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1459,8 +1579,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1475,6 +1625,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1484,24 +1650,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1512,8 +1738,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1537,24 +1763,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1565,26 +1791,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1593,15 +1812,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1610,8 +1844,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1625,8 +1859,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1650,24 +1884,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1678,26 +1912,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1706,15 +1933,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1723,8 +1965,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1738,8 +1980,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1753,8 +1995,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1768,8 +2010,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1792,6 +2034,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1809,7 +2066,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1817,14 +2074,14 @@
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-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1930,14 +2187,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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           <span class="md-ellipsis">Special methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1983,14 +2240,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
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@@ -2028,7 +2285,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2036,14 +2293,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2127,7 +2384,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2135,14 +2392,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.FIR.reset/index.html b/v0.0.x/api/sdr.FIR.reset/index.html
index 58465b17e..b2b61a678 100644
--- a/v0.0.x/api/sdr.FIR.reset/index.html
+++ b/v0.0.x/api/sdr.FIR.reset/index.html
@@ -827,6 +827,74 @@
               
   
   
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_3" type="checkbox" id="__nav_3_1_1_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_1_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
     
   
   
@@ -834,7 +902,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_3" type="checkbox" id="__nav_3_1_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" checked>
       
       
       
@@ -842,14 +910,14 @@
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           <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_1_3">
+            <label for="__nav_3_1_1_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_3">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
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@@ -993,14 +1061,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1097,7 +1165,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1105,10 +1173,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
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@@ -1127,7 +1195,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1149,8 +1217,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1180,7 +1263,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1202,8 +1285,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1233,7 +1316,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1241,10 +1324,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1255,8 +1338,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
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@@ -1286,7 +1384,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1294,10 +1392,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1308,8 +1406,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1323,8 +1421,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1338,8 +1436,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1353,19 +1451,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
   
   
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1386,24 +1491,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1412,30 +1517,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1444,8 +1564,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1459,8 +1579,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1475,6 +1625,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1484,24 +1650,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1512,8 +1738,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1537,24 +1763,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1565,26 +1791,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1593,15 +1812,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1610,8 +1844,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1625,8 +1859,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1650,24 +1884,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1678,26 +1912,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1706,15 +1933,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1723,8 +1965,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1738,8 +1980,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1753,8 +1995,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1768,8 +2010,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1792,6 +2034,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1809,7 +2066,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1817,14 +2074,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1839,7 +2096,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1847,14 +2104,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1869,7 +2126,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1877,14 +2134,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1922,7 +2179,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1930,14 +2187,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1975,7 +2232,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1983,14 +2240,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2028,7 +2285,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2036,14 +2293,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2127,7 +2384,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2135,14 +2392,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.FIR.step_response/index.html b/v0.0.x/api/sdr.FIR.step_response/index.html
index 271e5dede..aa0acf3b6 100644
--- a/v0.0.x/api/sdr.FIR.step_response/index.html
+++ b/v0.0.x/api/sdr.FIR.step_response/index.html
@@ -827,6 +827,74 @@
               
   
   
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_3" type="checkbox" id="__nav_3_1_1_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_1_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
     
   
   
@@ -834,7 +902,7 @@
     <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_3" type="checkbox" id="__nav_3_1_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" checked>
       
       
       
@@ -842,14 +910,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_1_3">
+            <label for="__nav_3_1_1_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_3">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1012,7 +1080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -1020,14 +1088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1124,7 +1192,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1132,10 +1200,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1154,7 +1222,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1176,8 +1244,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1207,7 +1290,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1229,8 +1312,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1260,7 +1343,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1268,10 +1351,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1282,8 +1365,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1313,7 +1411,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1321,10 +1419,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1335,8 +1433,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1350,8 +1448,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1365,8 +1463,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1380,19 +1478,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
   
   
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1413,24 +1518,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1439,30 +1544,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1471,8 +1591,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1486,8 +1606,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1502,6 +1652,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1511,24 +1677,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1539,8 +1765,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1564,24 +1790,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1592,26 +1818,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1620,15 +1839,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1637,8 +1871,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1652,8 +1886,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
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@@ -1705,26 +1939,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1733,15 +1960,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
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+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1750,8 +1992,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1765,8 +2007,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1780,8 +2022,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1795,8 +2037,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1819,6 +2061,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1836,7 +2093,7 @@
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@@ -1844,14 +2101,14 @@
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-            <label for="__nav_3_1_2">
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
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+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1874,14 +2131,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1904,14 +2161,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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@@ -1957,14 +2214,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -2010,14 +2267,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -2063,14 +2320,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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@@ -2154,7 +2411,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2162,14 +2419,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.FIR.streaming/index.html b/v0.0.x/api/sdr.FIR.streaming/index.html
index 39de783f2..40e463bfd 100644
--- a/v0.0.x/api/sdr.FIR.streaming/index.html
+++ b/v0.0.x/api/sdr.FIR.streaming/index.html
@@ -838,7 +838,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -846,8 +846,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -947,7 +1015,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" checked>
       
       
       
@@ -955,14 +1023,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
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           <span class="md-ellipsis">Properties</span>
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@@ -1097,7 +1165,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
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@@ -1105,10 +1173,10 @@
           
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-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1127,7 +1195,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1149,8 +1217,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1180,7 +1263,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1202,8 +1285,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1233,7 +1316,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1241,10 +1324,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1255,8 +1338,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1286,7 +1384,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1294,10 +1392,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1308,8 +1406,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1323,8 +1421,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1338,8 +1436,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1353,19 +1451,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
   
   
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1386,24 +1491,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1412,30 +1517,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1444,8 +1564,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1459,8 +1579,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1475,6 +1625,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1484,24 +1650,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1512,8 +1738,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1537,24 +1763,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1565,26 +1791,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1593,15 +1812,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1610,8 +1844,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1625,8 +1859,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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     </li>
   
@@ -1650,24 +1884,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1678,26 +1912,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1706,15 +1933,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1723,8 +1965,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1738,8 +1980,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1753,8 +1995,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1768,8 +2010,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1792,6 +2034,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1809,7 +2066,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1817,14 +2074,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1839,7 +2096,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1847,14 +2104,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1869,7 +2126,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1877,14 +2134,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1922,7 +2179,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1930,14 +2187,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1975,7 +2232,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1983,14 +2240,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2028,7 +2285,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2036,14 +2293,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2127,7 +2384,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2135,14 +2392,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.FIR.taps/index.html b/v0.0.x/api/sdr.FIR.taps/index.html
index 5ac16f819..bf981c3db 100644
--- a/v0.0.x/api/sdr.FIR.taps/index.html
+++ b/v0.0.x/api/sdr.FIR.taps/index.html
@@ -838,7 +838,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -846,8 +846,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -947,7 +1015,7 @@
     <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" checked>
       
       
       
@@ -955,14 +1023,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1097,7 +1165,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1105,10 +1173,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1127,7 +1195,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1149,8 +1217,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1180,7 +1263,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1202,8 +1285,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1233,7 +1316,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1241,10 +1324,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1255,8 +1338,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1286,7 +1384,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1294,10 +1392,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1308,8 +1406,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1323,8 +1421,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1338,8 +1436,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1353,19 +1451,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
   
   
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1386,24 +1491,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1412,30 +1517,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1444,8 +1564,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1459,8 +1579,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1475,6 +1625,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1484,24 +1650,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1512,8 +1738,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1537,24 +1763,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1565,26 +1791,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1593,15 +1812,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1610,8 +1844,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1625,8 +1859,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1650,24 +1884,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1678,26 +1912,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1706,15 +1933,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1723,8 +1965,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1738,8 +1980,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1753,8 +1995,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1768,8 +2010,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1792,6 +2034,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1809,7 +2066,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1817,14 +2074,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1839,7 +2096,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1847,14 +2104,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1869,7 +2126,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1877,14 +2134,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1922,7 +2179,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1930,14 +2187,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1975,7 +2232,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1983,14 +2240,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2028,7 +2285,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2036,14 +2293,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2127,7 +2384,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2135,14 +2392,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -6266,13 +6523,13 @@
       
       
         
-        <a href="../sdr.FIRInterpolator/" class="md-footer__link md-footer__link--next" aria-label="Next: sdr.FIRInterpolator" rel="next">
+        <a href="../sdr.IIR/" class="md-footer__link md-footer__link--next" aria-label="Next: sdr.IIR" rel="next">
           <div class="md-footer__title">
             <div class="md-ellipsis">
               <span class="md-footer__direction">
                 Next
               </span>
-              sdr.FIRInterpolator
+              sdr.IIR
             </div>
           </div>
           <div class="md-footer__button md-icon">
diff --git a/v0.0.x/api/sdr.FIR/index.html b/v0.0.x/api/sdr.FIR/index.html
index ab4087d58..916f6a3ec 100644
--- a/v0.0.x/api/sdr.FIR/index.html
+++ b/v0.0.x/api/sdr.FIR/index.html
@@ -839,7 +839,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -847,8 +847,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -946,7 +1014,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -954,14 +1022,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1128,6 +1196,33 @@
       </ul>
     </nav>
   
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#string-representation" class="md-nav__link">
+    <span class="md-ellipsis">String representation</span>
+  </a>
+  
+    <nav class="md-nav" aria-label="String representation">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.FIR.__str__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
 </li>
       
         <li class="md-nav__item">
@@ -1243,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1251,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1273,7 +1368,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1295,8 +1390,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1326,7 +1436,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1348,8 +1458,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1379,7 +1489,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1387,10 +1497,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1401,8 +1511,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1432,7 +1557,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1440,8 +1565,121 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1454,8 +1692,53 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1469,8 +1752,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
       </a>
     </li>
   
@@ -1484,8 +1767,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
       </a>
     </li>
   
@@ -1499,8 +1782,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1523,6 +1806,14 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1532,24 +1823,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Multirate filtering</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1562,24 +1853,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1588,15 +1879,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1605,8 +1911,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1630,22 +1936,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1658,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1683,24 +1989,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1711,8 +2017,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1726,26 +2032,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1754,15 +2053,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1771,8 +2085,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
@@ -1796,22 +2110,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1824,8 +2138,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1839,8 +2153,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1854,8 +2168,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1869,41 +2183,27 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1914,8 +2214,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
       </a>
     </li>
   
@@ -1930,22 +2230,6 @@
 
             
           
-        </ul>
-      </nav>
-    </li>
-  
-  
-
-            
-          
-        </ul>
-      </nav>
-    </li>
-  
-  
-
-            
-          
             
               
   
@@ -1955,7 +2239,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1963,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1985,7 +2269,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1993,14 +2277,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -2015,7 +2299,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -2129,14 +2413,14 @@
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-            <label for="__nav_3_1_2_1_3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -6363,6 +6647,13 @@
     <span class="md-ellipsis">Special methods</span>
   </a>
   
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#string-representation" class="md-nav__link">
+    <span class="md-ellipsis">String representation</span>
+  </a>
+  
 </li>
       
         <li class="md-nav__item">
@@ -6432,6 +6723,21 @@ <h2 id="special-methods">Special methods<a class="headerlink" href="#special-met
 <dd><p>Returns the filter length <span class="math notranslate nohighlight">\(N\)</span>.</p>
 </dd></dl>
 
+<div class="toctree-wrapper compound">
+</div>
+<h2 id="string-representation">String representation<a class="headerlink" href="#string-representation" title="Permalink to this heading">¶</a></h2>
+<dl class="py method summary objdesc">
+<dt class="sig sig-object highlight py">
+<a class="sig-name descname pseudo-toc-entry reference internal" href="../sdr.FIR.__repr__/" title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object."><span class="sig-name descname pseudo-toc-entry"><span class="pre">__repr__</span></span></a><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.11)"><span class="pre">str</span></a></span></span></span></dt>
+<dd><p>Returns a code-styled string representation of the object.</p>
+</dd></dl>
+
+<dl class="py method summary objdesc">
+<dt class="sig sig-object highlight py">
+<a class="sig-name descname pseudo-toc-entry reference internal" href="../sdr.FIR.__str__/" title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object."><span class="sig-name descname pseudo-toc-entry"><span class="pre">__str__</span></span></a><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.11)"><span class="pre">str</span></a></span></span></span></dt>
+<dd><p>Returns a human-readable string representation of the object.</p>
+</dd></dl>
+
 <div class="toctree-wrapper compound">
 </div>
 <h2 id="methods">Methods<a class="headerlink" href="#methods" title="Permalink to this heading">¶</a></h2>
diff --git a/v0.0.x/api/sdr.FIRInterpolator.__call__/index.html b/v0.0.x/api/sdr.FIRInterpolator.__call__/index.html
index 3916942b2..d78133e03 100644
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+++ b/v0.0.x/api/sdr.FIRInterpolator.__call__/index.html
@@ -642,14 +642,12 @@
               
   
   
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-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
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@@ -836,7 +834,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
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         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
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+  
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+    <li class="md-nav__item md-nav__item--nested">
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
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-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
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@@ -1065,10 +1129,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
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+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
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@@ -1109,8 +1173,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
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+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
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     </li>
   
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
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@@ -1161,77 +1238,12 @@
               
   
   
-    
-  
-    
   
   
-    <li class="md-nav__item md-nav__item--active">
-      
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
-      
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
-      
-        
-
-<nav class="md-nav md-nav--secondary">
-  
-  
-    
-  
-  
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
-      
-        <li class="md-nav__item">
-  <a href="#parameters" class="md-nav__link">
-    <span class="md-ellipsis">Parameters</span>
-  </a>
-  
-    <nav class="md-nav" aria-label="Parameters">
-      <ul class="md-nav__list">
-        
-          <li class="md-nav__item">
-  <a href="#p-x" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.FIRInterpolator.__call__.x (Python parameter) — The input signal $x[n]$ with sample rate $f_s$." class="md-ellipsis">x</span>
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="#p-mode" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.FIRInterpolator.__call__.mode (Python parameter) — The non-streaming convolution mode. See scipy.signal.convolve() for details. In streaming mode, $N$ inputs always produce $N r$ outputs." class="md-ellipsis">mode</span>
-  </a>
-  
-</li>
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-      </ul>
-    </nav>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#returns" class="md-nav__link">
-    <span class="md-ellipsis">Returns</span>
-  </a>
-  
-</li>
-      
-    </ul>
-  
-</nav>
-      
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@@ -1260,7 +1272,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
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@@ -1268,10 +1280,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1282,8 +1294,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1313,7 +1340,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1321,10 +1348,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1335,8 +1362,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1350,8 +1377,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1365,8 +1392,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1380,19 +1407,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
   
   
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1413,24 +1447,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1439,30 +1473,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1471,8 +1520,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1486,8 +1535,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1502,6 +1581,86 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
+          
+            <label for="__nav_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
             
               
   
@@ -1511,24 +1670,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1539,8 +1698,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1559,29 +1718,31 @@
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1589,46 +1750,119 @@
               
   
   
+    
   
+    
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
-      </a>
-    </li>
   
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+      
+        
 
-            
-          
-            
-              
+<nav class="md-nav md-nav--secondary">
   
   
+    
   
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#parameters" class="md-nav__link">
+    <span class="md-ellipsis">Parameters</span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Parameters">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#p-x" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.FIRInterpolator.__call__.x (Python parameter) — The input signal $x[n]$ with sample rate $f_s$." class="md-ellipsis">x</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-mode" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.FIRInterpolator.__call__.mode (Python parameter) — The non-streaming convolution mode. See scipy.signal.convolve() for details. In streaming mode, $N$ inputs always produce $N r$ outputs." class="md-ellipsis">mode</span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#returns" class="md-nav__link">
+    <span class="md-ellipsis">Returns</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
     </li>
   
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1637,8 +1871,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1652,8 +1886,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1677,24 +1911,24 @@
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
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-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
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@@ -1705,26 +1939,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1733,15 +1960,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1750,8 +1992,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1765,8 +2007,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1780,8 +2022,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1795,8 +2037,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1819,6 +2061,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1836,7 +2093,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1844,14 +2101,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1874,14 +2131,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1896,7 +2153,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1904,14 +2161,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1957,14 +2214,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -2010,14 +2267,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -2063,14 +2320,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2154,7 +2411,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2162,14 +2419,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -6332,13 +6589,13 @@
       
       
         
-        <a href="../sdr.FIRInterpolator.reset/" class="md-footer__link md-footer__link--next" aria-label="Next: sdr.FIRInterpolator.reset" rel="next">
+        <a href="../sdr.FIRInterpolator.__repr__/" class="md-footer__link md-footer__link--next" aria-label="Next: sdr.FIRInterpolator.__repr__" rel="next">
           <div class="md-footer__title">
             <div class="md-ellipsis">
               <span class="md-footer__direction">
                 Next
               </span>
-              sdr.FIRInterpolator.reset
+              sdr.FIRInterpolator.__repr__
             </div>
           </div>
           <div class="md-footer__button md-icon">
diff --git a/v0.0.x/api/sdr.FIRInterpolator.__init__/index.html b/v0.0.x/api/sdr.FIRInterpolator.__init__/index.html
index 51e9fda7b..aca9b0e0f 100644
--- a/v0.0.x/api/sdr.FIRInterpolator.__init__/index.html
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@@ -642,14 +642,12 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1" type="checkbox" id="__nav_3_1_1" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1" type="checkbox" id="__nav_3_1_1" >
       
       
       
@@ -836,7 +834,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -844,8 +842,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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@@ -943,7 +1009,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -951,14 +1017,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1044,20 +1110,18 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1065,10 +1129,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1076,20 +1140,18 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_1" type="checkbox" id="__nav_3_1_1_2_1" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_1" type="checkbox" id="__nav_3_1_1_2_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1108,77 +1170,27 @@
               
   
   
-    
-  
-    
   
   
-    <li class="md-nav__item md-nav__item--active">
-      
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
-      
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
-      
-        
-
-<nav class="md-nav md-nav--secondary">
-  
-  
-    
-  
-  
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
-      
-        <li class="md-nav__item">
-  <a href="#parameters" class="md-nav__link">
-    <span class="md-ellipsis">Parameters</span>
-  </a>
-  
-    <nav class="md-nav" aria-label="Parameters">
-      <ul class="md-nav__list">
-        
-          <li class="md-nav__item">
-  <a href="#p-taps" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.FIRInterpolator.__init__.taps (Python parameter) — The feedforward coefficients $h_i$." class="md-ellipsis">taps</span>
-  </a>
+    </li>
   
-</li>
-        
-          <li class="md-nav__item">
-  <a href="#p-rate" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.FIRInterpolator.__init__.rate (Python parameter) — The interpolation rate $r$." class="md-ellipsis">rate</span>
-  </a>
+
+            
+          
+            
+              
   
-</li>
-        
-          <li class="md-nav__item">
-  <a href="#p-streaming" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.FIRInterpolator.__init__.streaming (Python parameter) — Indicates whether to use streaming mode. In streaming mode, previous inputs are preserved between calls to __call__()." class="md-ellipsis">streaming</span>
-  </a>
   
-</li>
-        
-      </ul>
-    </nav>
   
-</li>
-      
-    </ul>
   
-</nav>
-      
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      </a>
     </li>
   
 
@@ -1207,7 +1219,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1229,8 +1241,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1260,7 +1272,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1268,10 +1280,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1282,8 +1294,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1313,7 +1340,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1321,8 +1348,121 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1335,8 +1475,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
       </a>
     </li>
   
@@ -1350,8 +1490,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
       </a>
     </li>
   
@@ -1365,8 +1505,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
       </a>
     </li>
   
@@ -1380,14 +1520,67 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
       </a>
     </li>
   
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1408,29 +1601,63 @@
               
   
   
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
+          
+            <label for="__nav_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1438,27 +1665,29 @@
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1468,27 +1697,77 @@
               
   
   
+    
   
+    
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
-    </li>
   
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+      
+        
 
-            
-          
-            
-              
+<nav class="md-nav md-nav--secondary">
   
   
+    
   
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
-      </a>
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#parameters" class="md-nav__link">
+    <span class="md-ellipsis">Parameters</span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Parameters">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#p-rate" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.FIRInterpolator.__init__.rate (Python parameter) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-taps" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.FIRInterpolator.__init__.taps (Python parameter) — The multirate filter design specification." class="md-ellipsis">taps</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-streaming" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.FIRInterpolator.__init__.streaming (Python parameter) — Indicates whether to use streaming mode. In streaming mode, previous inputs are preserved between calls to __call__()." class="md-ellipsis">streaming</span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
     </li>
   
 
@@ -1511,22 +1790,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1539,8 +1818,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1564,24 +1843,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1592,8 +1871,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1607,26 +1886,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1635,15 +1907,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1652,8 +1939,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
@@ -1677,22 +1964,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1705,8 +1992,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1720,8 +2007,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1735,8 +2022,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1750,41 +2037,27 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1795,8 +2068,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
       </a>
     </li>
   
@@ -1811,22 +2084,6 @@
 
             
           
-        </ul>
-      </nav>
-    </li>
-  
-  
-
-            
-          
-        </ul>
-      </nav>
-    </li>
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@@ -1836,7 +2093,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1844,14 +2101,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1866,7 +2123,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1874,14 +2131,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
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-  <a href="#p-taps" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.FIRInterpolator.__init__.taps (Python parameter) — The feedforward coefficients $h_i$." class="md-ellipsis">taps</span>
+  <a href="#p-rate" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.FIRInterpolator.__init__.rate (Python parameter) — The interpolation rate $r$." class="md-ellipsis">rate</span>
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+  <a href="#p-taps" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.FIRInterpolator.__init__.taps (Python parameter) — The multirate filter design specification." class="md-ellipsis">taps</span>
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@@ -6268,15 +6525,25 @@
 
 <dl class="py method objdesc">
 <dt class="sig sig-object highlight sig-wrap py">
-<span class="sig-prename descclassname"><span class="pre">sdr.</span></span><span class="sig-name descname"><span class="pre">FIRInterpolator</span></span><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="#p-taps" title="sdr.FIRInterpolator.__init__.taps (Python parameter) — The feedforward coefficients $h_i$."><span class="n"><span class="pre">taps</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><span class="pre">ArrayLike</span></span></span></em>, </span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="#p-rate" title="sdr.FIRInterpolator.__init__.rate (Python parameter) — The interpolation rate $r$."><span class="n"><span class="pre">rate</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.11)"><span class="pre">int</span></a></span></span></em>, </span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="#p-streaming" title="sdr.FIRInterpolator.__init__.streaming (Python parameter) — Indicates whether to use streaming mode. In streaming mode, previous inputs are preserved between calls to __call__()."><span class="n"><span class="pre">streaming</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.11)"><span class="pre">bool</span></a></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><code class="code python default_value docutils literal highlight highlight-python"><span class="kc">False</span></code></em></span><span class="sig-paren">)</span></dt>
+<span class="sig-prename descclassname"><span class="pre">sdr.</span></span><span class="sig-name descname"><span class="pre">FIRInterpolator</span></span><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="#p-rate" title="sdr.FIRInterpolator.__init__.rate (Python parameter) — The interpolation rate $r$."><span class="n"><span class="pre">rate</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.11)"><span class="pre">int</span></a></span></span></em>, </span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="#p-taps" title="sdr.FIRInterpolator.__init__.taps (Python parameter) — The multirate filter design specification."><span class="n"><span class="pre">taps</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><span class="s"><span class="pre">'kaiser'</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="s"><span class="pre">'linear'</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="s"><span class="pre">'zoh'</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">ArrayLike</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><code class="code python default_value docutils literal highlight highlight-python"><span class="s1">&#39;kaiser&#39;</span></code></em>, </span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="#p-streaming" title="sdr.FIRInterpolator.__init__.streaming (Python parameter) — Indicates whether to use streaming mode. In streaming mode, previous inputs are preserved between calls to __call__()."><span class="n"><span class="pre">streaming</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.11)"><span class="pre">bool</span></a></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><code class="code python default_value docutils literal highlight highlight-python"><span class="kc">False</span></code></em></span><span class="sig-paren">)</span></dt>
 <dd><p>Creates a polyphase FIR interpolating filter with feedforward coefficients <span class="math notranslate nohighlight">\(h_i\)</span>.</p>
 <dl class="field-list simple">
 <dt class="field-odd" id="parameters">Parameters<span class="colon">:</span><a class="headerlink" href="#parameters" title="Permalink to this headline">¶</a></dt>
 <dd class="field-odd"><dl class="simple api-field highlight">
-<dt id="p-taps"><span class="n sig-name">taps</span><span class="p">:</span><span class="w">   </span><span class="n"><span class="desctype">ArrayLike</span></span><a class="headerlink" href="#p-taps" title="Permalink to this definition">¶</a></dt><dd><p>The feedforward coefficients <span class="math notranslate nohighlight">\(h_i\)</span>.</p>
-</dd>
 <dt id="p-rate"><span class="n sig-name">rate</span><span class="p">:</span><span class="w">   </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.11)">int</a></span></span><a class="headerlink" href="#p-rate" title="Permalink to this definition">¶</a></dt><dd><p>The interpolation rate <span class="math notranslate nohighlight">\(r\)</span>.</p>
 </dd>
+<dt id="p-taps"><span class="n sig-name">taps</span><span class="p">:</span><span class="w">   </span><span class="n"><span class="desctype"><span class="s">'kaiser'</span><span class="w">   </span><span class="p">|</span><span class="w">   </span><span class="s">'linear'</span><span class="w">   </span><span class="p">|</span><span class="w">   </span><span class="s">'zoh'</span><span class="w">   </span><span class="p">|</span><span class="w">   </span>ArrayLike</span></span><span class="w">   </span><span class="o">=</span><span class="w">   </span><code class="code python default_value docutils literal highlight highlight-python"><span class="s1">&#39;kaiser&#39;</span></code><a class="headerlink" href="#p-taps" title="Permalink to this definition">¶</a></dt><dd><p><p>The multirate filter design specification.</p>
+<ul class="simple">
+<li><p><code class="code highlight python docutils literal highlight-python"><span class="s2">&quot;kaiser&quot;</span></code>: The multirate filter is designed using <a class="reference internal" href="../sdr.multirate_fir/" title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$."><code class="xref py py-func docutils literal notranslate"><span class="pre">multirate_fir()</span></code></a>
+with arguments <code class="code highlight python docutils literal highlight-python"><span class="n">rate</span></code> and 1.</p></li>
+<li><p><code class="code highlight python docutils literal highlight-python"><span class="s2">&quot;linear&quot;</span></code>: The multirate filter is designed to linearly interpolate between samples.
+The filter coefficients are a length-<span class="math notranslate nohighlight">\(2r\)</span> linear ramp <span class="math notranslate nohighlight">\(\frac{1}{r} [0, ..., r-1, r, r-1, ..., 1]\)</span>.</p></li>
+<li><p><code class="code highlight python docutils literal highlight-python"><span class="s2">&quot;zoh&quot;</span></code>: The multirate filter is designed to be a zero-order hold.
+The filter coefficients are a length-<span class="math notranslate nohighlight">\(r\)</span> array of ones.</p></li>
+<li><p><code class="code highlight python docutils literal highlight-python"><span class="n">npt</span><span class="o">.</span><span class="n">ArrayLike</span></code>: The multirate filter feedforward coefficients <span class="math notranslate nohighlight">\(h_i\)</span>.</p></li>
+</ul>
+</p>
+</dd>
 <dt id="p-streaming"><span class="n sig-name">streaming</span><span class="p">:</span><span class="w">   </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.11)">bool</a></span></span><span class="w">   </span><span class="o">=</span><span class="w">   </span><code class="code python default_value docutils literal highlight highlight-python"><span class="kc">False</span></code><a class="headerlink" href="#p-streaming" title="Permalink to this definition">¶</a></dt><dd><p>Indicates whether to use streaming mode. In streaming mode, previous inputs are
 preserved between calls to <a class="reference internal" href="../sdr.FIRInterpolator.__call__/" title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter."><code class="xref py py-meth docutils literal notranslate"><span class="pre">__call__()</span></code></a>.</p>
 </dd>
diff --git a/v0.0.x/api/sdr.FIRInterpolator.__repr__/index.html b/v0.0.x/api/sdr.FIRInterpolator.__repr__/index.html
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+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#filtering"><span class="md-ellipsis">Filtering</span></a>
+          
+            <label for="__nav_3_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1" type="checkbox" id="__nav_3_1_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIR (Python class) — Implements a finite impulse response (FIR) filter." class="md-ellipsis">FIR</span></a>
+          
+            <label for="__nav_3_1_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIR" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIR (Python class) — Implements a finite impulse response (FIR) filter." class="md-ellipsis">FIR</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_1" type="checkbox" id="__nav_3_1_1_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_1_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__init__ (Python method) — Creates a FIR filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_2" type="checkbox" id="__nav_3_1_1_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_1_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__call__ (Python method) — Filters the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__len__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__len__ (Python method) — Returns the filter length $N$." class="md-ellipsis">__<wbr>len__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_3" type="checkbox" id="__nav_3_1_1_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_1_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the FIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the FIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the FIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.step_response (Python method) — Returns the step response $s[n]$ of the FIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.delay/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.delay (Python property) — The delay of the FIR filter in samples." class="md-ellipsis">delay</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.order (Python property) — The order of the FIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.taps (Python property) — The feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          
+            <label for="__nav_3_1_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_1" type="checkbox" id="__nav_3_1_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_2" type="checkbox" id="__nav_3_1_1_2_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_1_2_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_3" type="checkbox" id="__nav_3_1_1_2_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_1_2_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
+          
+            <label for="__nav_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_2_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
+          
+            <label for="__nav_3_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Resampling" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Resampling</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
+          
+            <label for="__nav_3_1_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_3_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.__init__ (Python method) — Creates a new Farrow arbitrary resampler." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
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+        </ul>
+      </nav>
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.__call__ (Python method) — Resamples the input signal $x[n]$ by the given arbitrary rate $r$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_3_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.reset (Python method) — Streaming-mode only: Resets the filter state and fractional sample index." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_3_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.order (Python property) — The order of the filter." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.taps (Python property) — The Farrow filter taps." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
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+  
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+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
+          
+            <label for="__nav_3_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Signal manipulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.mix/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.mix (Python function) — Mixes the time-domain signal $x[n]$ with a complex exponential." class="md-ellipsis">mix</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.to_complex_bb/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.to_complex_bb (Python function) — Converts the real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r}$ to a complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c} = f_{s,r}/2$." class="md-ellipsis">to_<wbr>complex_<wbr>bb</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.to_real_pb/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.to_real_pb (Python function) — Converts the complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c}$ to a real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r} = 2f_{s,c}$." class="md-ellipsis">to_<wbr>real_<wbr>pb</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_2" type="checkbox" id="__nav_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sequences/"><span class="md-ellipsis">Sequences</span></a>
+          
+            <label for="__nav_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Sequences" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Sequences</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.barker/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.barker (Python function) — Returns the Barker code/sequence of length $N$." class="md-ellipsis">barker</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.zadoff_chu/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.zadoff_chu (Python function) — Returns the root-$u$ Zadoff-Chu sequence of length $N$." class="md-ellipsis">zadoff_<wbr>chu</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
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+  
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+  
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+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3" type="checkbox" id="__nav_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/"><span class="md-ellipsis">Modulation</span></a>
+          
+            <label for="__nav_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Modulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Modulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1" type="checkbox" id="__nav_3_3_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#classes"><span class="md-ellipsis">Classes</span></a>
+          
+            <label for="__nav_3_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Classes" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Classes</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
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+  
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+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.PSK (Python class) — Implements phase-shift keying (PSK) modulation and demodulation." class="md-ellipsis">PSK</span></a>
+          
+            <label for="__nav_3_3_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="PSK" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_3_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.PSK (Python class) — Implements phase-shift keying (PSK) modulation and demodulation." class="md-ellipsis">PSK</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_1" type="checkbox" id="__nav_3_3_1_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_3_1_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.__init__ (Python method) — Creates a new PSK object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_2" type="checkbox" id="__nav_3_3_1_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_3_1_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.ber/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.ber (Python method) — Computes the bit error rate (BER) at the provided $E_b/N_0$ values." class="md-ellipsis">ber</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.demodulate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.demodulate (Python method) — Demodulates the complex symbols $hat{x}[k]$ to decimal symbols $hat{s}[k]$ using maximum-likelihood estimation." class="md-ellipsis">demodulate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.modulate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.modulate (Python method) — Modulates to decimal symbols $s[k]$ to complex symbols $x[k]$." class="md-ellipsis">modulate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.ser/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.ser (Python method) — Computes the symbol error rate (SER) at the provided $E_s/N_0$ values." class="md-ellipsis">ser</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_3" type="checkbox" id="__nav_3_3_1_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_3_1_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.bps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.bps (Python property) — The number of bits per symbol $k = log_2 M$." class="md-ellipsis">bps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.order (Python property) — The modulation order $M = 2^k$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.phase_offset/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.phase_offset (Python property) — The phase offset $phi$ in degrees." class="md-ellipsis">phase_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.symbol_map/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.symbol_map (Python property) — The symbol map ${0, dots, M-1} mapsto mathbb{C}$. This maps decimal symbols from $0$ to $M-1$ to complex symbols." class="md-ellipsis">symbol_<wbr>map</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_2" type="checkbox" id="__nav_3_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#pulse-shaping"><span class="md-ellipsis">Pulse shaping</span></a>
+          
+            <label for="__nav_3_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Pulse shaping" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Pulse shaping</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.gaussian/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.gaussian (Python function) — Returns a Gaussian pulse shape." class="md-ellipsis">gaussian</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.raised_cosine/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.raised_cosine (Python function) — Returns a raised cosine (RC) pulse shape." class="md-ellipsis">raised_<wbr>cosine</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.root_raised_cosine/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.root_raised_cosine (Python function) — Returns a square root raised cosine (SRRC) pulse shape." class="md-ellipsis">root_<wbr>raised_<wbr>cosine</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_3" type="checkbox" id="__nav_3_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#symbol-mapping"><span class="md-ellipsis">Symbol mapping</span></a>
+          
+            <label for="__nav_3_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Symbol mapping" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Symbol mapping</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.binary_code/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.binary_code (Python function) — Generates a binary code of length $2^n$." class="md-ellipsis">binary_<wbr>code</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.gray_code/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.gray_code (Python function) — Generates a Gray code of length $2^n$." class="md-ellipsis">gray_<wbr>code</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_4" type="checkbox" id="__nav_3_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#symbol-encoding"><span class="md-ellipsis">Symbol encoding</span></a>
+          
+            <label for="__nav_3_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Symbol encoding" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Symbol encoding</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.diff_decode/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.diff_decode (Python function) — Differentially decodes the input data $y[k]$." class="md-ellipsis">diff_<wbr>decode</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.diff_encode/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.diff_encode (Python function) — Differentially encodes the input data $x[k]$." class="md-ellipsis">diff_<wbr>encode</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4" type="checkbox" id="__nav_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../synchronization/"><span class="md-ellipsis">Synchronization</span></a>
+          
+            <label for="__nav_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Synchronization" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Synchronization</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1" type="checkbox" id="__nav_3_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ClosedLoopPLL (Python class) — A class that defines the performance of a closed-loop PLL." class="md-ellipsis">Closed<wbr>Loop<wbr>PLL</span></a>
+          
+            <label for="__nav_3_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="ClosedLoopPLL" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ClosedLoopPLL (Python class) — A class that defines the performance of a closed-loop PLL." class="md-ellipsis">Closed<wbr>Loop<wbr>PLL</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_1" type="checkbox" id="__nav_3_4_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.__init__ (Python method) — Creates a closed-loop PLL analysis object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_2" type="checkbox" id="__nav_3_4_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.frequency_lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.frequency_lock_time (Python method) — Returns the frequency lock time of the PLL." class="md-ellipsis">frequency_<wbr>lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.lock_time (Python method) — Returns the lock time of the PLL." class="md-ellipsis">lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.phase_error_variance/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.phase_error_variance (Python method) — Returns the variance of the phase error of the PLL in steady state." class="md-ellipsis">phase_<wbr>error_<wbr>variance</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.phase_lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.phase_lock_time (Python method) — Returns the phase lock time of the PLL." class="md-ellipsis">phase_<wbr>lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_3" type="checkbox" id="__nav_3_4_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.Bn/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.Bn (Python property) — The noise bandwidth $B_n$ of the PLL in Hz." class="md-ellipsis">Bn</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.BnT/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.BnT (Python property) — The normalized noise bandwidth $B_n T$ of the PLL." class="md-ellipsis">Bn<wbr>T</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.iir/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.iir (Python property) — The IIR filter that represents the closed-loop transfer function of the PLL." class="md-ellipsis">iir</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K0/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K0 (Python property) — The NCO gain $K_0$." class="md-ellipsis">K0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K1/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K1 (Python property) — The proportional gain $K_1$ of the loop filter." class="md-ellipsis">K1</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K2/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K2 (Python property) — The integral gain $K_2$ of the loop filter." class="md-ellipsis">K2</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.Kp/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.Kp (Python property) — The phase error detector (PED) gain $K_p$." class="md-ellipsis">Kp</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.omega_3dB/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.omega_3dB (Python property) — The 3-dB bandwidth $omega_{3textrm{dB}}$ of the PLL in radians/s." class="md-ellipsis">omega_<wbr>3d<wbr>B</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.omega_n/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.omega_n (Python property) — The natural frequency $omega_n$ of the PLL in radians/s." class="md-ellipsis">omega_<wbr>n</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.sample_rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.sample_rate (Python property) — The sample rate $f_s$ of the PLL in samples/s." class="md-ellipsis">sample_<wbr>rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.zeta/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.zeta (Python property) — The damping factor $zeta$ of the PLL." class="md-ellipsis">zeta</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
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+  
+  
+
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+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2" type="checkbox" id="__nav_3_4_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.DDS (Python class) — Implements a direct digital synthesizer (DDS)." class="md-ellipsis">DDS</span></a>
+          
+            <label for="__nav_3_4_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="DDS" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.DDS (Python class) — Implements a direct digital synthesizer (DDS)." class="md-ellipsis">DDS</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_1" type="checkbox" id="__nav_3_4_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.__init__ (Python method) — Creates a direct digital synthesizer (DDS)." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+            
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+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_2" type="checkbox" id="__nav_3_4_2_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_4_2_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.__call__ (Python method) — Steps the DDS with the variable phase increment signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
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+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_3" type="checkbox" id="__nav_3_4_2_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_2_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
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+          
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.reset (Python method) — Resets the DDS." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.step/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.step (Python method) — Steps the DDS forward by $N$ samples." class="md-ellipsis">step</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
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+  
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+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_4" type="checkbox" id="__nav_3_4_2_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.nco/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.DDS.nco (Python property) — The numerically-controlled oscillator (NCO) used by the DDS." class="md-ellipsis">nco</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
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+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3" type="checkbox" id="__nav_3_4_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.LoopFilter (Python class) — Implements a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">Loop<wbr>Filter</span></a>
+          
+            <label for="__nav_3_4_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="LoopFilter" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.LoopFilter (Python class) — Implements a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">Loop<wbr>Filter</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_1" type="checkbox" id="__nav_3_4_3_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.__init__ (Python method) — Creates a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
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+  
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+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_2" type="checkbox" id="__nav_3_4_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_4_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.__call__ (Python method) — Filters the input signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
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+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_3" type="checkbox" id="__nav_3_4_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.reset (Python method) — Resets the loop filter." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_4" type="checkbox" id="__nav_3_4_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.damping_factor/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.damping_factor (Python property) — The damping factor $zeta$ of the loop filter. $zeta = 1$ is critically damped, $zeta &lt; 1$ is underdamped, and $zeta &gt; 1$ is overdamped." class="md-ellipsis">damping_<wbr>factor</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.iir/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.iir (Python property) — The underlying IIR filter used to implement the loop filter." class="md-ellipsis">iir</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.K1/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.K1 (Python property) — The proportional gain $K_1$ of the loop filter." class="md-ellipsis">K1</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.K2/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.K2 (Python property) — The integral gain $K_2$ of the loop filter." class="md-ellipsis">K2</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.noise_bandwidth/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.noise_bandwidth (Python property) — The normalized noise bandwidth $B_n T$ of the loop filter, where $B_n$ is the noise bandwidth in Hz and $T$ is the sampling period in seconds." class="md-ellipsis">noise_<wbr>bandwidth</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4" type="checkbox" id="__nav_3_4_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.NCO (Python class) — Implements a numerically-controlled oscillator (NCO)." class="md-ellipsis">NCO</span></a>
+          
+            <label for="__nav_3_4_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="NCO" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.NCO (Python class) — Implements a numerically-controlled oscillator (NCO)." class="md-ellipsis">NCO</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_1" type="checkbox" id="__nav_3_4_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.__init__ (Python method) — Creates a numerically-controlled oscillator (NCO)." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_2" type="checkbox" id="__nav_3_4_4_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_4_4_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.__call__ (Python method) — Steps the NCO with the variable-increment signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
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+  
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+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_3" type="checkbox" id="__nav_3_4_4_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_4_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.reset (Python method) — Resets the NCO." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.step/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.step (Python method) — Steps the NCO forward by $N$ samples." class="md-ellipsis">step</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
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+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_4" type="checkbox" id="__nav_3_4_4_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_4_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.increment/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.increment (Python property) — The constant accumulation $omega$ of the NCO in units/sample." class="md-ellipsis">increment</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.K0/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.K0 (Python property) — The NCO gain $K_0$." class="md-ellipsis">K0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.offset/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.offset (Python property) — The absolute offset $theta$ of the NCO in units." class="md-ellipsis">offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+      </nav>
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+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5" type="checkbox" id="__nav_3_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/"><span class="md-ellipsis">Measurement</span></a>
+          
+            <label for="__nav_3_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Measurement" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Measurement</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_1" type="checkbox" id="__nav_3_5_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#energy"><span class="md-ellipsis">Energy</span></a>
+          
+            <label for="__nav_3_5_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Energy" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Energy</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.energy/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.energy (Python function) — Measures the energy of a time-domain signal $x[n]$." class="md-ellipsis">energy</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+  
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+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_2" type="checkbox" id="__nav_3_5_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#power"><span class="md-ellipsis">Power</span></a>
+          
+            <label for="__nav_3_5_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Power" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Power</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.average_power/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.average_power (Python function) — Measures the average power of a time-domain signal $x[n]$." class="md-ellipsis">average_<wbr>power</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.papr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.papr (Python function) — Measures the peak-to-average power ratio (PAPR) of a time-domain signal $x[n]$." class="md-ellipsis">papr</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.peak_power/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.peak_power (Python function) — Measures the peak power of a time-domain signal $x[n]$." class="md-ellipsis">peak_<wbr>power</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_3" type="checkbox" id="__nav_3_5_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#voltage"><span class="md-ellipsis">Voltage</span></a>
+          
+            <label for="__nav_3_5_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Voltage" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Voltage</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.crest_factor/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.crest_factor (Python function) — Measures the crest factor of a time-domain signal $x[n]$." class="md-ellipsis">crest_<wbr>factor</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.peak_voltage/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.peak_voltage (Python function) — Measures the peak voltage of a time-domain signal $x[n]$." class="md-ellipsis">peak_<wbr>voltage</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.rms_voltage/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.rms_voltage (Python function) — Measures the root-mean-square (RMS) voltage of a time-domain signal $x[n]$." class="md-ellipsis">rms_<wbr>voltage</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4" type="checkbox" id="__nav_3_5_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#modulation"><span class="md-ellipsis">Modulation</span></a>
+          
+            <label for="__nav_3_5_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Modulation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Modulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1" type="checkbox" id="__nav_3_5_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ErrorRate (Python class) — A class for measuring bit error rates (BER) or symbol error rates (SER)." class="md-ellipsis">Error<wbr>Rate</span></a>
+          
+            <label for="__nav_3_5_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="ErrorRate" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_5_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ErrorRate (Python class) — A class for measuring bit error rates (BER) or symbol error rates (SER)." class="md-ellipsis">Error<wbr>Rate</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1_1" type="checkbox" id="__nav_3_5_4_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_5_4_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_5_4_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.__init__ (Python method) — Creates a new error rate tabulation object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1_2" type="checkbox" id="__nav_3_5_4_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_5_4_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_5_4_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.add/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.add (Python method) — Measures the number of bit or symbol errors at the given signal-to-noise ratio (SNR)." class="md-ellipsis">add</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.counts/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.counts (Python method) — Returns the number of counts at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">counts</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.error_rate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.error_rate (Python method) — Returns the error rate at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">error_<wbr>rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.error_rates/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.error_rates (Python method) — Returns all signal-to-noise ratios (SNRs) in ascending order and their corresponding error rates." class="md-ellipsis">error_<wbr>rates</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.errors/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.errors (Python method) — Returns the number of errors at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">errors</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.evm/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.evm (Python function) — Calculates the error-vector magnitude (EVM) of the complex symbols $hat{x}[k]$." class="md-ellipsis">evm</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6" type="checkbox" id="__nav_3_6" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/"><span class="md-ellipsis">Conversions</span></a>
+          
+            <label for="__nav_3_6">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Conversions" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_6">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Conversions</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
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+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_1" type="checkbox" id="__nav_3_6_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#decibels"><span class="md-ellipsis">Decibels</span></a>
+          
+            <label for="__nav_3_6_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Decibels" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Decibels</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.db/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.db (Python function) — Converts from linear units to decibels." class="md-ellipsis">db</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.linear/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.linear (Python function) — Converts from decibels to linear units." class="md-ellipsis">linear</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_2" type="checkbox" id="__nav_3_6_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-e-b-n-0"><span class="md-ellipsis">From E_<wbr>b/N_<wbr>0</span></a>
+          
+            <label for="__nav_3_6_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From E_b/N_0" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From E_<wbr>b/N_<wbr>0</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ebn0_to_esn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.ebn0_to_esn0 (Python function) — Converts from $E_b/N_0$ to $E_s/N_0$." class="md-ellipsis">ebn0_<wbr>to_<wbr>esn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ebn0_to_snr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.ebn0_to_snr (Python function) — Converts from $E_b/N_0$ to $S/N$." class="md-ellipsis">ebn0_<wbr>to_<wbr>snr</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_3" type="checkbox" id="__nav_3_6_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-e-s-n-0"><span class="md-ellipsis">From E_<wbr>s/N_<wbr>0</span></a>
+          
+            <label for="__nav_3_6_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From E_s/N_0" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From E_<wbr>s/N_<wbr>0</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.esn0_to_ebn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.esn0_to_ebn0 (Python function) — Converts from $E_s/N_0$ to $E_b/N_0$." class="md-ellipsis">esn0_<wbr>to_<wbr>ebn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.esn0_to_snr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.esn0_to_snr (Python function) — Converts from $E_s/N_0$ to $S/N$." class="md-ellipsis">esn0_<wbr>to_<wbr>snr</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_4" type="checkbox" id="__nav_3_6_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-s-n"><span class="md-ellipsis">From S/N</span></a>
+          
+            <label for="__nav_3_6_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From S/N" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From S/N</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.snr_to_ebn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.snr_to_ebn0 (Python function) — Converts from $S/N$ to $E_b/N_0$." class="md-ellipsis">snr_<wbr>to_<wbr>ebn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.snr_to_esn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.snr_to_esn0 (Python function) — Converts from $S/N$ to $E_s/N_0$." class="md-ellipsis">snr_<wbr>to_<wbr>esn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7" type="checkbox" id="__nav_3_7" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/"><span class="md-ellipsis">Simulation</span></a>
+          
+            <label for="__nav_3_7">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Simulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_7">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Simulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7_1" type="checkbox" id="__nav_3_7_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/#channel-models"><span class="md-ellipsis">Channel models</span></a>
+          
+            <label for="__nav_3_7_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Channel models" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_7_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Channel models</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bec/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bec (Python function) — Passes the binary input sequence $x$ through a binary erasure channel (BEC) with erasure probability $p$." class="md-ellipsis">bec</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bsc/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bsc (Python function) — Passes the binary input sequence $x$ through a binary symmetric channel (BSC) with transition probability $p$." class="md-ellipsis">bsc</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.dmc/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.dmc (Python function) — Passes the input sequence $x$ through a discrete memoryless channel (DMC) with transition probability matrix $P$." class="md-ellipsis">dmc</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7_2" type="checkbox" id="__nav_3_7_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/#signal-impairments"><span class="md-ellipsis">Signal impairments</span></a>
+          
+            <label for="__nav_3_7_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Signal impairments" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_7_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Signal impairments</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.awgn/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.awgn (Python function) — Adds additive white Gaussian noise (AWGN) to the time-domain signal $x[n]$." class="md-ellipsis">awgn</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.frequency_offset/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.frequency_offset (Python function) — Applies a frequency and phase offset to the time-domain signal $x[n]$." class="md-ellipsis">frequency_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.iq_imbalance/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.iq_imbalance (Python function) — Applies IQ imbalance to the complex time-domain signal $x[n]$." class="md-ellipsis">iq_<wbr>imbalance</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.sample_rate_offset/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.sample_rate_offset (Python function) — Applies a sample rate offset to the time-domain signal $x[n]$." class="md-ellipsis">sample_<wbr>rate_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8" type="checkbox" id="__nav_3_8" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/"><span class="md-ellipsis">Link budgets</span></a>
+          
+            <label for="__nav_3_8">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Link budgets" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_8">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Link budgets</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_1" type="checkbox" id="__nav_3_8_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#channel-capacity"><span class="md-ellipsis">Channel capacity</span></a>
+          
+            <label for="__nav_3_8_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Channel capacity" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Channel capacity</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.awgn_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.awgn_capacity (Python function) — Calculates the capacity of an additive white Gaussian noise (AWGN) channel." class="md-ellipsis">awgn_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bec_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bec_capacity (Python function) — Calculates the capacity of a binary erasure channel (BEC)." class="md-ellipsis">bec_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bsc_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bsc_capacity (Python function) — Calculates the capacity of a binary symmetric channel (BSC)." class="md-ellipsis">bsc_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_2" type="checkbox" id="__nav_3_8_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#path-losses"><span class="md-ellipsis">Path losses</span></a>
+          
+            <label for="__nav_3_8_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Path losses" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Path losses</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.fspl/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.fspl (Python function) — Calculates the free-space path loss (FSPL) in dB." class="md-ellipsis">fspl</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_3" type="checkbox" id="__nav_3_8_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#antennas"><span class="md-ellipsis">Antennas</span></a>
+          
+            <label for="__nav_3_8_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Antennas" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Antennas</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.parabolic_antenna/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.parabolic_antenna (Python function) — Calculates the gain $G$ and beamwidth $theta$ of a parabolic reflector." class="md-ellipsis">parabolic_<wbr>antenna</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_9" type="checkbox" id="__nav_3_9" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../probability/"><span class="md-ellipsis">Probability</span></a>
+          
+            <label for="__nav_3_9">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Probability" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_9">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Probability</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.Q/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.Q (Python function) — Computes the complementary cumulative distribution function $Q(x)$ of the standard normal distribution $mathcal{N}(0, 1)$." class="md-ellipsis">Q</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.Qinv/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.Qinv (Python function) — Computes the inverse complementary cumulative distribution function $Q^{-1}(p)$ of the standard normal distribution $mathcal{N}(0, 1)$." class="md-ellipsis">Qinv</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_10" type="checkbox" id="__nav_3_10" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../data-manipulation/"><span class="md-ellipsis">Data manipulation</span></a>
+          
+            <label for="__nav_3_10">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Data manipulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_10">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Data manipulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.hexdump/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.hexdump (Python function) — Returns a hexdump of the specified data." class="md-ellipsis">hexdump</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.pack/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.pack (Python function) — Packs a binary array into an array with multiple bits per element." class="md-ellipsis">pack</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.unpack/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.unpack (Python function) — Unpacks an array with multiple bits per element into a binary array." class="md-ellipsis">unpack</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11" type="checkbox" id="__nav_3_11" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/"><span class="md-ellipsis">Plotting</span></a>
+          
+            <label for="__nav_3_11">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Plotting" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_11">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Plotting</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_1" type="checkbox" id="__nav_3_11_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#configuration"><span class="md-ellipsis">Configuration</span></a>
+          
+            <label for="__nav_3_11_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Configuration" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Configuration</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.use_style/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.use_style (Python function) — Applies sdr&#39;s default matplotlib rcParams." class="md-ellipsis">use_<wbr>style</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_2" type="checkbox" id="__nav_3_11_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#time-domain"><span class="md-ellipsis">Time-<wbr>domain</span></a>
+          
+            <label for="__nav_3_11_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Time-domain" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Time-<wbr>domain</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.time_domain/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.time_domain (Python function) — Plots a time-domain signal $x[n]$." class="md-ellipsis">time_<wbr>domain</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_3" type="checkbox" id="__nav_3_11_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#spectral-estimation"><span class="md-ellipsis">Spectral estimation</span></a>
+          
+            <label for="__nav_3_11_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Spectral estimation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Spectral estimation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.periodogram/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.periodogram (Python function) — Plots the estimated power spectral density $P_{xx}$ of a time-domain signal $x[n]$ using Welch&#39;s method." class="md-ellipsis">periodogram</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.spectrogram/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.spectrogram (Python function) — Plots the spectrogram of a time-domain signal $x[n]$ using Welch&#39;s method." class="md-ellipsis">spectrogram</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_4" type="checkbox" id="__nav_3_11_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#modulation"><span class="md-ellipsis">Modulation</span></a>
+          
+            <label for="__nav_3_11_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Modulation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Modulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.ber/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.ber (Python function) — Plots the bit error rate (BER) as a function of $E_b/N_0$." class="md-ellipsis">ber</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.constellation/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.constellation (Python function) — Plots the constellation of the complex symbols $hat{x}[k]$." class="md-ellipsis">constellation</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.ser/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.ser (Python function) — Plots the symbol error rate (SER) as a function of $E_s/N_0$." class="md-ellipsis">ser</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.symbol_map/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.symbol_map (Python function) — Plots the symbol map of the complex symbols $hat{x}[k]$." class="md-ellipsis">symbol_<wbr>map</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_5" type="checkbox" id="__nav_3_11_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#filter-analysis"><span class="md-ellipsis">Filter analysis</span></a>
+          
+            <label for="__nav_3_11_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Filter analysis" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Filter analysis</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.filter/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.filter (Python function) — Plots the frequency response $H(omega)$, impulse response $h[n]$, step response $s[n]$, and zeros and poles of the filter." class="md-ellipsis">filter</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.frequency_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.frequency_response (Python function) — Plots the frequency response $H(omega)$ of the filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.group_delay/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.group_delay (Python function) — Plots the group delay $tau_g(omega)$ of the IIR filter." class="md-ellipsis">group_<wbr>delay</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.impulse_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.impulse_response (Python function) — Plots the impulse response $h[n]$ of a filter." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.phase_delay/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.phase_delay (Python function) — Plots the phase delay $tau_{phi}(omega)$ of the filter." class="md-ellipsis">phase_<wbr>delay</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.phase_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.phase_response (Python function) — Plots the phase response $Theta(omega)$ of the filter." class="md-ellipsis">phase_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.step_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.step_response (Python function) — Plots the step response $s[n]$ of a filter." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.zeros_poles/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.zeros_poles (Python function) — Plots the zeros and poles of the filter." class="md-ellipsis">zeros_<wbr>poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+    
+      
+      
+      
+
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      
+      
+      
+        <label class="md-nav__link" for="__nav_4">
+          <span class="md-ellipsis">Release Notes</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <nav class="md-nav" aria-label="Release Notes" data-md-level="1">
+        <label class="md-nav__title" for="__nav_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Release Notes</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../release-notes/versioning/" class="md-nav__link">
+        <span class="md-ellipsis">Versioning</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../release-notes/v0.0/" class="md-nav__link">
+        <span class="md-ellipsis">v0.<wbr>0</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+    
+      
+      
+      
+
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_5" type="checkbox" id="__nav_5" >
+      
+      
+      
+        <label class="md-nav__link" for="__nav_5">
+          <span class="md-ellipsis">Index</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <nav class="md-nav" aria-label="Index" data-md-level="1">
+        <label class="md-nav__title" for="__nav_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Index</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../genindex/" class="md-nav__link">
+        <span class="md-ellipsis">Index</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+    
+  </ul>
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+            
+              
+              <div class="md-sidebar md-sidebar--secondary" data-md-component="sidebar" data-md-type="toc" >
+                <div class="md-sidebar__scrollwrap">
+                  <div class="md-sidebar__inner">
+                    
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+          
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset" role="main">
+                  
+
+
+<dl class="py method objdesc">
+<dt class="sig sig-object highlight py">
+<span class="sig-prename descclassname"><span class="pre">sdr.</span><span class="pre">FIRInterpolator.</span></span><span class="sig-name descname"><span class="pre">__repr__</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.11)"><span class="pre">str</span></a></span></span></span></dt>
+<dd><p>Returns a code-styled string representation of the object.</p>
+<p class="example rubric" id="examples">Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></p>
+<div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [1]: </span><span class="n">fir</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">FIRInterpolator</span><span class="p">(</span><span class="mi">7</span><span class="p">)</span>
+
+<span class="gp">In [2]: </span><span class="n">fir</span>
+<span class="gh">Out[2]: </span><span class="go">sdr.FIRInterpolator(7, &#39;kaiser&#39;, streaming=False)</span>
+</code></pre></div>
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+        <label class="md-nav__title" for="__nav_3_1_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIR (Python class) — Implements a finite impulse response (FIR) filter." class="md-ellipsis">FIR</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_1" type="checkbox" id="__nav_3_1_1_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_1_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__init__ (Python method) — Creates a FIR filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_2" type="checkbox" id="__nav_3_1_1_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_1_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__call__ (Python method) — Filters the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__len__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__len__ (Python method) — Returns the filter length $N$." class="md-ellipsis">__<wbr>len__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_3" type="checkbox" id="__nav_3_1_1_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_1_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the FIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the FIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the FIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.step_response (Python method) — Returns the step response $s[n]$ of the FIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.delay/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.delay (Python property) — The delay of the FIR filter in samples." class="md-ellipsis">delay</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.order (Python property) — The order of the FIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.taps (Python property) — The feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          
+            <label for="__nav_3_1_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_1" type="checkbox" id="__nav_3_1_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_2" type="checkbox" id="__nav_3_1_1_2_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_1_2_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_3" type="checkbox" id="__nav_3_1_1_2_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_1_2_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
+          
+            <label for="__nav_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_2_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
+          
+            <label for="__nav_3_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Resampling" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Resampling</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
+          
+            <label for="__nav_3_1_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
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+  
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+    <li class="md-nav__item md-nav__item--nested">
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_3_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.__init__ (Python method) — Creates a new Farrow arbitrary resampler." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.__call__ (Python method) — Resamples the input signal $x[n]$ by the given arbitrary rate $r$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+      
+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_3_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.reset (Python method) — Streaming-mode only: Resets the filter state and fractional sample index." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_3_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.order (Python property) — The order of the filter." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.taps (Python property) — The Farrow filter taps." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+      </nav>
+    </li>
+  
+  
+
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+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
+          
+            <label for="__nav_3_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Signal manipulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.mix/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.mix (Python function) — Mixes the time-domain signal $x[n]$ with a complex exponential." class="md-ellipsis">mix</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.to_complex_bb/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.to_complex_bb (Python function) — Converts the real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r}$ to a complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c} = f_{s,r}/2$." class="md-ellipsis">to_<wbr>complex_<wbr>bb</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.to_real_pb/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.to_real_pb (Python function) — Converts the complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c}$ to a real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r} = 2f_{s,c}$." class="md-ellipsis">to_<wbr>real_<wbr>pb</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
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+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_2" type="checkbox" id="__nav_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sequences/"><span class="md-ellipsis">Sequences</span></a>
+          
+            <label for="__nav_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Sequences" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Sequences</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.barker/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.barker (Python function) — Returns the Barker code/sequence of length $N$." class="md-ellipsis">barker</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.zadoff_chu/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.zadoff_chu (Python function) — Returns the root-$u$ Zadoff-Chu sequence of length $N$." class="md-ellipsis">zadoff_<wbr>chu</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
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+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3" type="checkbox" id="__nav_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/"><span class="md-ellipsis">Modulation</span></a>
+          
+            <label for="__nav_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Modulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Modulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1" type="checkbox" id="__nav_3_3_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#classes"><span class="md-ellipsis">Classes</span></a>
+          
+            <label for="__nav_3_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Classes" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Classes</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1" type="checkbox" id="__nav_3_3_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.PSK (Python class) — Implements phase-shift keying (PSK) modulation and demodulation." class="md-ellipsis">PSK</span></a>
+          
+            <label for="__nav_3_3_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="PSK" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_3_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.PSK (Python class) — Implements phase-shift keying (PSK) modulation and demodulation." class="md-ellipsis">PSK</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_1" type="checkbox" id="__nav_3_3_1_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_3_1_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.__init__ (Python method) — Creates a new PSK object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_2" type="checkbox" id="__nav_3_3_1_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_3_1_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.ber/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.ber (Python method) — Computes the bit error rate (BER) at the provided $E_b/N_0$ values." class="md-ellipsis">ber</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.demodulate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.demodulate (Python method) — Demodulates the complex symbols $hat{x}[k]$ to decimal symbols $hat{s}[k]$ using maximum-likelihood estimation." class="md-ellipsis">demodulate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.modulate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.modulate (Python method) — Modulates to decimal symbols $s[k]$ to complex symbols $x[k]$." class="md-ellipsis">modulate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.ser/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.ser (Python method) — Computes the symbol error rate (SER) at the provided $E_s/N_0$ values." class="md-ellipsis">ser</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_3" type="checkbox" id="__nav_3_3_1_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_3_1_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.bps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.bps (Python property) — The number of bits per symbol $k = log_2 M$." class="md-ellipsis">bps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.order (Python property) — The modulation order $M = 2^k$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.phase_offset/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.phase_offset (Python property) — The phase offset $phi$ in degrees." class="md-ellipsis">phase_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.symbol_map/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.symbol_map (Python property) — The symbol map ${0, dots, M-1} mapsto mathbb{C}$. This maps decimal symbols from $0$ to $M-1$ to complex symbols." class="md-ellipsis">symbol_<wbr>map</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_2" type="checkbox" id="__nav_3_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#pulse-shaping"><span class="md-ellipsis">Pulse shaping</span></a>
+          
+            <label for="__nav_3_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Pulse shaping" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Pulse shaping</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.gaussian/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.gaussian (Python function) — Returns a Gaussian pulse shape." class="md-ellipsis">gaussian</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.raised_cosine/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.raised_cosine (Python function) — Returns a raised cosine (RC) pulse shape." class="md-ellipsis">raised_<wbr>cosine</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.root_raised_cosine/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.root_raised_cosine (Python function) — Returns a square root raised cosine (SRRC) pulse shape." class="md-ellipsis">root_<wbr>raised_<wbr>cosine</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_3" type="checkbox" id="__nav_3_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#symbol-mapping"><span class="md-ellipsis">Symbol mapping</span></a>
+          
+            <label for="__nav_3_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Symbol mapping" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Symbol mapping</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.binary_code/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.binary_code (Python function) — Generates a binary code of length $2^n$." class="md-ellipsis">binary_<wbr>code</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.gray_code/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.gray_code (Python function) — Generates a Gray code of length $2^n$." class="md-ellipsis">gray_<wbr>code</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_4" type="checkbox" id="__nav_3_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#symbol-encoding"><span class="md-ellipsis">Symbol encoding</span></a>
+          
+            <label for="__nav_3_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Symbol encoding" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Symbol encoding</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.diff_decode/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.diff_decode (Python function) — Differentially decodes the input data $y[k]$." class="md-ellipsis">diff_<wbr>decode</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.diff_encode/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.diff_encode (Python function) — Differentially encodes the input data $x[k]$." class="md-ellipsis">diff_<wbr>encode</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4" type="checkbox" id="__nav_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../synchronization/"><span class="md-ellipsis">Synchronization</span></a>
+          
+            <label for="__nav_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Synchronization" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Synchronization</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1" type="checkbox" id="__nav_3_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ClosedLoopPLL (Python class) — A class that defines the performance of a closed-loop PLL." class="md-ellipsis">Closed<wbr>Loop<wbr>PLL</span></a>
+          
+            <label for="__nav_3_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="ClosedLoopPLL" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ClosedLoopPLL (Python class) — A class that defines the performance of a closed-loop PLL." class="md-ellipsis">Closed<wbr>Loop<wbr>PLL</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_1" type="checkbox" id="__nav_3_4_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.__init__ (Python method) — Creates a closed-loop PLL analysis object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_2" type="checkbox" id="__nav_3_4_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.frequency_lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.frequency_lock_time (Python method) — Returns the frequency lock time of the PLL." class="md-ellipsis">frequency_<wbr>lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.lock_time (Python method) — Returns the lock time of the PLL." class="md-ellipsis">lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.phase_error_variance/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.phase_error_variance (Python method) — Returns the variance of the phase error of the PLL in steady state." class="md-ellipsis">phase_<wbr>error_<wbr>variance</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.phase_lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.phase_lock_time (Python method) — Returns the phase lock time of the PLL." class="md-ellipsis">phase_<wbr>lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_3" type="checkbox" id="__nav_3_4_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.Bn/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.Bn (Python property) — The noise bandwidth $B_n$ of the PLL in Hz." class="md-ellipsis">Bn</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.BnT/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.BnT (Python property) — The normalized noise bandwidth $B_n T$ of the PLL." class="md-ellipsis">Bn<wbr>T</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.iir/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.iir (Python property) — The IIR filter that represents the closed-loop transfer function of the PLL." class="md-ellipsis">iir</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K0/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K0 (Python property) — The NCO gain $K_0$." class="md-ellipsis">K0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K1/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K1 (Python property) — The proportional gain $K_1$ of the loop filter." class="md-ellipsis">K1</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K2/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K2 (Python property) — The integral gain $K_2$ of the loop filter." class="md-ellipsis">K2</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.Kp/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.Kp (Python property) — The phase error detector (PED) gain $K_p$." class="md-ellipsis">Kp</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.omega_3dB/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.omega_3dB (Python property) — The 3-dB bandwidth $omega_{3textrm{dB}}$ of the PLL in radians/s." class="md-ellipsis">omega_<wbr>3d<wbr>B</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.omega_n/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.omega_n (Python property) — The natural frequency $omega_n$ of the PLL in radians/s." class="md-ellipsis">omega_<wbr>n</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.sample_rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.sample_rate (Python property) — The sample rate $f_s$ of the PLL in samples/s." class="md-ellipsis">sample_<wbr>rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.zeta/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.zeta (Python property) — The damping factor $zeta$ of the PLL." class="md-ellipsis">zeta</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2" type="checkbox" id="__nav_3_4_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.DDS (Python class) — Implements a direct digital synthesizer (DDS)." class="md-ellipsis">DDS</span></a>
+          
+            <label for="__nav_3_4_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="DDS" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.DDS (Python class) — Implements a direct digital synthesizer (DDS)." class="md-ellipsis">DDS</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
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+        
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+          <a href="../sdr.DDS/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
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+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
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+        <label class="md-nav__title" for="__nav_3_4_2_1">
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+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.__init__ (Python method) — Creates a direct digital synthesizer (DDS)." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_2" type="checkbox" id="__nav_3_4_2_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_4_2_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.__call__ (Python method) — Steps the DDS with the variable phase increment signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
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+      
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+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_3" type="checkbox" id="__nav_3_4_2_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_2_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
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+          
+            
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.reset (Python method) — Resets the DDS." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.step/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.step (Python method) — Steps the DDS forward by $N$ samples." class="md-ellipsis">step</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_4" type="checkbox" id="__nav_3_4_2_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.nco/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.DDS.nco (Python property) — The numerically-controlled oscillator (NCO) used by the DDS." class="md-ellipsis">nco</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+          
+            
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+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3" type="checkbox" id="__nav_3_4_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.LoopFilter (Python class) — Implements a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">Loop<wbr>Filter</span></a>
+          
+            <label for="__nav_3_4_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="LoopFilter" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.LoopFilter (Python class) — Implements a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">Loop<wbr>Filter</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_1" type="checkbox" id="__nav_3_4_3_1" >
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+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.__init__ (Python method) — Creates a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
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+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_2" type="checkbox" id="__nav_3_4_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_4_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.__call__ (Python method) — Filters the input signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
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+  
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+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_3" type="checkbox" id="__nav_3_4_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.reset (Python method) — Resets the loop filter." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_4" type="checkbox" id="__nav_3_4_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.damping_factor/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.damping_factor (Python property) — The damping factor $zeta$ of the loop filter. $zeta = 1$ is critically damped, $zeta &lt; 1$ is underdamped, and $zeta &gt; 1$ is overdamped." class="md-ellipsis">damping_<wbr>factor</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.iir/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.iir (Python property) — The underlying IIR filter used to implement the loop filter." class="md-ellipsis">iir</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.K1/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.K1 (Python property) — The proportional gain $K_1$ of the loop filter." class="md-ellipsis">K1</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.K2/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.K2 (Python property) — The integral gain $K_2$ of the loop filter." class="md-ellipsis">K2</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.noise_bandwidth/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.noise_bandwidth (Python property) — The normalized noise bandwidth $B_n T$ of the loop filter, where $B_n$ is the noise bandwidth in Hz and $T$ is the sampling period in seconds." class="md-ellipsis">noise_<wbr>bandwidth</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4" type="checkbox" id="__nav_3_4_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.NCO (Python class) — Implements a numerically-controlled oscillator (NCO)." class="md-ellipsis">NCO</span></a>
+          
+            <label for="__nav_3_4_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="NCO" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.NCO (Python class) — Implements a numerically-controlled oscillator (NCO)." class="md-ellipsis">NCO</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_1" type="checkbox" id="__nav_3_4_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.__init__ (Python method) — Creates a numerically-controlled oscillator (NCO)." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
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+  
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+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_2" type="checkbox" id="__nav_3_4_4_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_4_4_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.__call__ (Python method) — Steps the NCO with the variable-increment signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
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+            
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+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_3" type="checkbox" id="__nav_3_4_4_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_4_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.reset (Python method) — Resets the NCO." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.step/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.step (Python method) — Steps the NCO forward by $N$ samples." class="md-ellipsis">step</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_4" type="checkbox" id="__nav_3_4_4_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_4_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.increment/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.increment (Python property) — The constant accumulation $omega$ of the NCO in units/sample." class="md-ellipsis">increment</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.K0/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.K0 (Python property) — The NCO gain $K_0$." class="md-ellipsis">K0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.offset/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.offset (Python property) — The absolute offset $theta$ of the NCO in units." class="md-ellipsis">offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
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+          
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+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5" type="checkbox" id="__nav_3_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/"><span class="md-ellipsis">Measurement</span></a>
+          
+            <label for="__nav_3_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Measurement" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Measurement</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_1" type="checkbox" id="__nav_3_5_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#energy"><span class="md-ellipsis">Energy</span></a>
+          
+            <label for="__nav_3_5_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Energy" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Energy</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.energy/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.energy (Python function) — Measures the energy of a time-domain signal $x[n]$." class="md-ellipsis">energy</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_2" type="checkbox" id="__nav_3_5_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#power"><span class="md-ellipsis">Power</span></a>
+          
+            <label for="__nav_3_5_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Power" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Power</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.average_power/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.average_power (Python function) — Measures the average power of a time-domain signal $x[n]$." class="md-ellipsis">average_<wbr>power</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.papr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.papr (Python function) — Measures the peak-to-average power ratio (PAPR) of a time-domain signal $x[n]$." class="md-ellipsis">papr</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.peak_power/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.peak_power (Python function) — Measures the peak power of a time-domain signal $x[n]$." class="md-ellipsis">peak_<wbr>power</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_3" type="checkbox" id="__nav_3_5_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#voltage"><span class="md-ellipsis">Voltage</span></a>
+          
+            <label for="__nav_3_5_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Voltage" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Voltage</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.crest_factor/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.crest_factor (Python function) — Measures the crest factor of a time-domain signal $x[n]$." class="md-ellipsis">crest_<wbr>factor</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.peak_voltage/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.peak_voltage (Python function) — Measures the peak voltage of a time-domain signal $x[n]$." class="md-ellipsis">peak_<wbr>voltage</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.rms_voltage/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.rms_voltage (Python function) — Measures the root-mean-square (RMS) voltage of a time-domain signal $x[n]$." class="md-ellipsis">rms_<wbr>voltage</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4" type="checkbox" id="__nav_3_5_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#modulation"><span class="md-ellipsis">Modulation</span></a>
+          
+            <label for="__nav_3_5_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Modulation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Modulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1" type="checkbox" id="__nav_3_5_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ErrorRate (Python class) — A class for measuring bit error rates (BER) or symbol error rates (SER)." class="md-ellipsis">Error<wbr>Rate</span></a>
+          
+            <label for="__nav_3_5_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="ErrorRate" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_5_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ErrorRate (Python class) — A class for measuring bit error rates (BER) or symbol error rates (SER)." class="md-ellipsis">Error<wbr>Rate</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1_1" type="checkbox" id="__nav_3_5_4_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_5_4_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_5_4_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.__init__ (Python method) — Creates a new error rate tabulation object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1_2" type="checkbox" id="__nav_3_5_4_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_5_4_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_5_4_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.add/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.add (Python method) — Measures the number of bit or symbol errors at the given signal-to-noise ratio (SNR)." class="md-ellipsis">add</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.counts/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.counts (Python method) — Returns the number of counts at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">counts</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.error_rate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.error_rate (Python method) — Returns the error rate at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">error_<wbr>rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.error_rates/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.error_rates (Python method) — Returns all signal-to-noise ratios (SNRs) in ascending order and their corresponding error rates." class="md-ellipsis">error_<wbr>rates</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.errors/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.errors (Python method) — Returns the number of errors at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">errors</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.evm/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.evm (Python function) — Calculates the error-vector magnitude (EVM) of the complex symbols $hat{x}[k]$." class="md-ellipsis">evm</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6" type="checkbox" id="__nav_3_6" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/"><span class="md-ellipsis">Conversions</span></a>
+          
+            <label for="__nav_3_6">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Conversions" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_6">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Conversions</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_1" type="checkbox" id="__nav_3_6_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#decibels"><span class="md-ellipsis">Decibels</span></a>
+          
+            <label for="__nav_3_6_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Decibels" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Decibels</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.db/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.db (Python function) — Converts from linear units to decibels." class="md-ellipsis">db</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.linear/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.linear (Python function) — Converts from decibels to linear units." class="md-ellipsis">linear</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_2" type="checkbox" id="__nav_3_6_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-e-b-n-0"><span class="md-ellipsis">From E_<wbr>b/N_<wbr>0</span></a>
+          
+            <label for="__nav_3_6_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From E_b/N_0" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From E_<wbr>b/N_<wbr>0</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ebn0_to_esn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.ebn0_to_esn0 (Python function) — Converts from $E_b/N_0$ to $E_s/N_0$." class="md-ellipsis">ebn0_<wbr>to_<wbr>esn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ebn0_to_snr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.ebn0_to_snr (Python function) — Converts from $E_b/N_0$ to $S/N$." class="md-ellipsis">ebn0_<wbr>to_<wbr>snr</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_3" type="checkbox" id="__nav_3_6_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-e-s-n-0"><span class="md-ellipsis">From E_<wbr>s/N_<wbr>0</span></a>
+          
+            <label for="__nav_3_6_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From E_s/N_0" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From E_<wbr>s/N_<wbr>0</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.esn0_to_ebn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.esn0_to_ebn0 (Python function) — Converts from $E_s/N_0$ to $E_b/N_0$." class="md-ellipsis">esn0_<wbr>to_<wbr>ebn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.esn0_to_snr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.esn0_to_snr (Python function) — Converts from $E_s/N_0$ to $S/N$." class="md-ellipsis">esn0_<wbr>to_<wbr>snr</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_4" type="checkbox" id="__nav_3_6_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-s-n"><span class="md-ellipsis">From S/N</span></a>
+          
+            <label for="__nav_3_6_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From S/N" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From S/N</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.snr_to_ebn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.snr_to_ebn0 (Python function) — Converts from $S/N$ to $E_b/N_0$." class="md-ellipsis">snr_<wbr>to_<wbr>ebn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.snr_to_esn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.snr_to_esn0 (Python function) — Converts from $S/N$ to $E_s/N_0$." class="md-ellipsis">snr_<wbr>to_<wbr>esn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7" type="checkbox" id="__nav_3_7" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/"><span class="md-ellipsis">Simulation</span></a>
+          
+            <label for="__nav_3_7">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Simulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_7">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Simulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7_1" type="checkbox" id="__nav_3_7_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/#channel-models"><span class="md-ellipsis">Channel models</span></a>
+          
+            <label for="__nav_3_7_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Channel models" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_7_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Channel models</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bec/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bec (Python function) — Passes the binary input sequence $x$ through a binary erasure channel (BEC) with erasure probability $p$." class="md-ellipsis">bec</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bsc/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bsc (Python function) — Passes the binary input sequence $x$ through a binary symmetric channel (BSC) with transition probability $p$." class="md-ellipsis">bsc</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.dmc/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.dmc (Python function) — Passes the input sequence $x$ through a discrete memoryless channel (DMC) with transition probability matrix $P$." class="md-ellipsis">dmc</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7_2" type="checkbox" id="__nav_3_7_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/#signal-impairments"><span class="md-ellipsis">Signal impairments</span></a>
+          
+            <label for="__nav_3_7_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Signal impairments" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_7_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Signal impairments</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.awgn/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.awgn (Python function) — Adds additive white Gaussian noise (AWGN) to the time-domain signal $x[n]$." class="md-ellipsis">awgn</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.frequency_offset/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.frequency_offset (Python function) — Applies a frequency and phase offset to the time-domain signal $x[n]$." class="md-ellipsis">frequency_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.iq_imbalance/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.iq_imbalance (Python function) — Applies IQ imbalance to the complex time-domain signal $x[n]$." class="md-ellipsis">iq_<wbr>imbalance</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.sample_rate_offset/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.sample_rate_offset (Python function) — Applies a sample rate offset to the time-domain signal $x[n]$." class="md-ellipsis">sample_<wbr>rate_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8" type="checkbox" id="__nav_3_8" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/"><span class="md-ellipsis">Link budgets</span></a>
+          
+            <label for="__nav_3_8">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Link budgets" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_8">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Link budgets</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_1" type="checkbox" id="__nav_3_8_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#channel-capacity"><span class="md-ellipsis">Channel capacity</span></a>
+          
+            <label for="__nav_3_8_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Channel capacity" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Channel capacity</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.awgn_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.awgn_capacity (Python function) — Calculates the capacity of an additive white Gaussian noise (AWGN) channel." class="md-ellipsis">awgn_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bec_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bec_capacity (Python function) — Calculates the capacity of a binary erasure channel (BEC)." class="md-ellipsis">bec_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bsc_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bsc_capacity (Python function) — Calculates the capacity of a binary symmetric channel (BSC)." class="md-ellipsis">bsc_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_2" type="checkbox" id="__nav_3_8_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#path-losses"><span class="md-ellipsis">Path losses</span></a>
+          
+            <label for="__nav_3_8_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Path losses" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Path losses</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.fspl/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.fspl (Python function) — Calculates the free-space path loss (FSPL) in dB." class="md-ellipsis">fspl</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_3" type="checkbox" id="__nav_3_8_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#antennas"><span class="md-ellipsis">Antennas</span></a>
+          
+            <label for="__nav_3_8_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Antennas" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Antennas</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.parabolic_antenna/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.parabolic_antenna (Python function) — Calculates the gain $G$ and beamwidth $theta$ of a parabolic reflector." class="md-ellipsis">parabolic_<wbr>antenna</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_9" type="checkbox" id="__nav_3_9" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../probability/"><span class="md-ellipsis">Probability</span></a>
+          
+            <label for="__nav_3_9">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Probability" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_9">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Probability</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.Q/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.Q (Python function) — Computes the complementary cumulative distribution function $Q(x)$ of the standard normal distribution $mathcal{N}(0, 1)$." class="md-ellipsis">Q</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.Qinv/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.Qinv (Python function) — Computes the inverse complementary cumulative distribution function $Q^{-1}(p)$ of the standard normal distribution $mathcal{N}(0, 1)$." class="md-ellipsis">Qinv</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_10" type="checkbox" id="__nav_3_10" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../data-manipulation/"><span class="md-ellipsis">Data manipulation</span></a>
+          
+            <label for="__nav_3_10">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Data manipulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_10">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Data manipulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.hexdump/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.hexdump (Python function) — Returns a hexdump of the specified data." class="md-ellipsis">hexdump</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.pack/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.pack (Python function) — Packs a binary array into an array with multiple bits per element." class="md-ellipsis">pack</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.unpack/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.unpack (Python function) — Unpacks an array with multiple bits per element into a binary array." class="md-ellipsis">unpack</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11" type="checkbox" id="__nav_3_11" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/"><span class="md-ellipsis">Plotting</span></a>
+          
+            <label for="__nav_3_11">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Plotting" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_11">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Plotting</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_1" type="checkbox" id="__nav_3_11_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#configuration"><span class="md-ellipsis">Configuration</span></a>
+          
+            <label for="__nav_3_11_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Configuration" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Configuration</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.use_style/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.use_style (Python function) — Applies sdr&#39;s default matplotlib rcParams." class="md-ellipsis">use_<wbr>style</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_2" type="checkbox" id="__nav_3_11_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#time-domain"><span class="md-ellipsis">Time-<wbr>domain</span></a>
+          
+            <label for="__nav_3_11_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Time-domain" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Time-<wbr>domain</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.time_domain/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.time_domain (Python function) — Plots a time-domain signal $x[n]$." class="md-ellipsis">time_<wbr>domain</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_3" type="checkbox" id="__nav_3_11_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#spectral-estimation"><span class="md-ellipsis">Spectral estimation</span></a>
+          
+            <label for="__nav_3_11_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Spectral estimation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Spectral estimation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.periodogram/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.periodogram (Python function) — Plots the estimated power spectral density $P_{xx}$ of a time-domain signal $x[n]$ using Welch&#39;s method." class="md-ellipsis">periodogram</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.spectrogram/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.spectrogram (Python function) — Plots the spectrogram of a time-domain signal $x[n]$ using Welch&#39;s method." class="md-ellipsis">spectrogram</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_4" type="checkbox" id="__nav_3_11_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#modulation"><span class="md-ellipsis">Modulation</span></a>
+          
+            <label for="__nav_3_11_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Modulation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Modulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.ber/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.ber (Python function) — Plots the bit error rate (BER) as a function of $E_b/N_0$." class="md-ellipsis">ber</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.constellation/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.constellation (Python function) — Plots the constellation of the complex symbols $hat{x}[k]$." class="md-ellipsis">constellation</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.ser/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.ser (Python function) — Plots the symbol error rate (SER) as a function of $E_s/N_0$." class="md-ellipsis">ser</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.symbol_map/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.symbol_map (Python function) — Plots the symbol map of the complex symbols $hat{x}[k]$." class="md-ellipsis">symbol_<wbr>map</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_5" type="checkbox" id="__nav_3_11_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#filter-analysis"><span class="md-ellipsis">Filter analysis</span></a>
+          
+            <label for="__nav_3_11_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Filter analysis" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Filter analysis</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.filter/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.filter (Python function) — Plots the frequency response $H(omega)$, impulse response $h[n]$, step response $s[n]$, and zeros and poles of the filter." class="md-ellipsis">filter</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.frequency_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.frequency_response (Python function) — Plots the frequency response $H(omega)$ of the filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.group_delay/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.group_delay (Python function) — Plots the group delay $tau_g(omega)$ of the IIR filter." class="md-ellipsis">group_<wbr>delay</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.impulse_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.impulse_response (Python function) — Plots the impulse response $h[n]$ of a filter." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.phase_delay/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.phase_delay (Python function) — Plots the phase delay $tau_{phi}(omega)$ of the filter." class="md-ellipsis">phase_<wbr>delay</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.phase_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.phase_response (Python function) — Plots the phase response $Theta(omega)$ of the filter." class="md-ellipsis">phase_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.step_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.step_response (Python function) — Plots the step response $s[n]$ of a filter." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.zeros_poles/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.zeros_poles (Python function) — Plots the zeros and poles of the filter." class="md-ellipsis">zeros_<wbr>poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
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+    
+      
+      
+      
+
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+  
+  
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+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      
+      
+      
+        <label class="md-nav__link" for="__nav_4">
+          <span class="md-ellipsis">Release Notes</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <nav class="md-nav" aria-label="Release Notes" data-md-level="1">
+        <label class="md-nav__title" for="__nav_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Release Notes</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../release-notes/versioning/" class="md-nav__link">
+        <span class="md-ellipsis">Versioning</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../release-notes/v0.0/" class="md-nav__link">
+        <span class="md-ellipsis">v0.<wbr>0</span>
+      </a>
+    </li>
+  
+
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+          
+        </ul>
+      </nav>
+    </li>
+  
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+      
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+      
+        <label class="md-nav__link" for="__nav_5">
+          <span class="md-ellipsis">Index</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <nav class="md-nav" aria-label="Index" data-md-level="1">
+        <label class="md-nav__title" for="__nav_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Index</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../genindex/" class="md-nav__link">
+        <span class="md-ellipsis">Index</span>
+      </a>
+    </li>
+  
+
+            
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+        </ul>
+      </nav>
+    </li>
+  
+  
+
+    
+  </ul>
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+            
+              
+              <div class="md-sidebar md-sidebar--secondary" data-md-component="sidebar" data-md-type="toc" >
+                <div class="md-sidebar__scrollwrap">
+                  <div class="md-sidebar__inner">
+                    
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+          
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset" role="main">
+                  
+
+
+<dl class="py method objdesc">
+<dt class="sig sig-object highlight py">
+<span class="sig-prename descclassname"><span class="pre">sdr.</span><span class="pre">FIRInterpolator.</span></span><span class="sig-name descname"><span class="pre">__str__</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.11)"><span class="pre">str</span></a></span></span></span></dt>
+<dd><p>Returns a human-readable string representation of the object.</p>
+<p class="example rubric" id="examples">Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></p>
+<div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [1]: </span><span class="n">fir</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">FIRInterpolator</span><span class="p">(</span><span class="mi">7</span><span class="p">)</span>
+
+<span class="gp">In [2]: </span><span class="nb">print</span><span class="p">(</span><span class="n">fir</span><span class="p">)</span>
+<span class="go">sdr.FIRInterpolator:</span>
+<span class="go">  order: 167</span>
+<span class="go">  rate: 7</span>
+<span class="go">  method: &#39;kaiser&#39;</span>
+<span class="go">  polyphase_taps: (7, 24) shape</span>
+<span class="go">  delay: 84</span>
+<span class="go">  streaming: False</span>
+</code></pre></div>
+</div>
+</dd></dl>
+
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\ No newline at end of file
diff --git a/v0.0.x/api/sdr.FIRInterpolator.streaming/index.html b/v0.0.x/api/sdr.FIRInterpolator.method/index.html
similarity index 94%
rename from v0.0.x/api/sdr.FIRInterpolator.streaming/index.html
rename to v0.0.x/api/sdr.FIRInterpolator.method/index.html
index 581e5e1e1..d5010ac71 100644
--- a/v0.0.x/api/sdr.FIRInterpolator.streaming/index.html
+++ b/v0.0.x/api/sdr.FIRInterpolator.method/index.html
@@ -13,7 +13,7 @@
     
     
       
-        <title>sdr.FIRInterpolator.streaming - sdr</title>
+        <title>sdr.FIRInterpolator.method - sdr</title>
       
     
     
@@ -141,7 +141,7 @@
         <div class="md-header__topic" data-md-component="header-topic">
           <span class="md-ellipsis">
             
-              sdr.FIRInterpolator.streaming
+              sdr.FIRInterpolator.method
             
           </span>
         </div>
@@ -637,14 +637,12 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1" type="checkbox" id="__nav_3_1_1" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1" type="checkbox" id="__nav_3_1_1" >
       
       
       
@@ -831,7 +829,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -839,8 +837,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -938,7 +1004,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -946,14 +1012,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1039,20 +1105,18 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1060,10 +1124,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1082,7 +1146,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1104,8 +1168,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1135,7 +1214,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1157,8 +1236,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1188,7 +1267,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1196,10 +1275,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1210,8 +1289,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1230,20 +1324,18 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1251,10 +1343,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1265,8 +1357,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1280,8 +1372,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,20 +1384,12 @@
               
   
   
-    
-  
-    
   
   
-    <li class="md-nav__item md-nav__item--active">
-      
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
-      
     </li>
   
 
@@ -1318,19 +1402,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
   
   
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1351,24 +1442,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1377,30 +1468,15 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
-          
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
-          
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1409,8 +1485,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
       </a>
     </li>
   
@@ -1424,19 +1500,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
   
   
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1445,40 +1528,40 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
-          
-            <label for="__nav_3_1_1_3_2">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
-          
-        </div>
-      
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
-          
-            
-              
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
   
   
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1493,33 +1576,51 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1527,16 +1628,63 @@
               
   
   
+    
   
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
-      </a>
-    </li>
-  
-
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
             
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1545,14 +1693,52 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_2_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
             
               
   
@@ -1560,14 +1746,52 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
             
               
   
@@ -1575,8 +1799,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1590,8 +1814,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
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@@ -1615,24 +1839,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
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         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1643,26 +1867,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1670,27 +1887,52 @@
               
   
   
+    
   
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
   
   
+    
+  
+    
   
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
+      
     </li>
   
 
@@ -1703,8 +1945,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1718,8 +1960,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1733,8 +1975,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1757,6 +1999,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1774,7 +2031,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1782,14 +2039,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1804,7 +2061,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1812,14 +2069,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1834,7 +2091,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1842,14 +2099,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1895,14 +2152,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1948,14 +2205,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1993,7 +2250,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2001,14 +2258,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2092,7 +2349,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2100,14 +2357,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -6163,10 +6420,9 @@
 
 
 <dl class="py property objdesc">
-<dt class="sig sig-object highlight py">
-<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">sdr.</span><span class="pre">FIRInterpolator.</span></span><span class="sig-name descname"><span class="pre">streaming</span></span><span class="p"> <span class="pre">:</span> </span><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.11)"><span class="pre">bool</span></a></span></dt>
-<dd><p>Indicates whether the filter is in streaming mode.</p>
-<p>In streaming mode, the filter state is preserved between calls to <a class="reference internal" href="../sdr.FIRInterpolator.__call__/" title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter."><code class="xref py py-meth docutils literal notranslate"><span class="pre">__call__()</span></code></a>.</p>
+<dt class="sig sig-object highlight sig-wrap py">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">sdr.</span><span class="pre">FIRInterpolator.</span></span><span class="sig-name descname"><span class="pre">method</span></span><span class="p"> <span class="pre">:</span> </span><span class="desctype"><span class="s"><span class="pre">'kaiser'</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="s"><span class="pre">'linear'</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="s"><span class="pre">'zoh'</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="s"><span class="pre">'custom'</span></span></span></dt>
+<dd><p>The method used to design the multirate filter.</p>
 </dd></dl>
 
 
@@ -6199,7 +6455,7 @@
     <nav class="md-footer__inner md-grid" aria-label="Footer" >
       
         
-        <a href="../sdr.FIRInterpolator.rate/" class="md-footer__link md-footer__link--prev" aria-label="Previous: sdr.FIRInterpolator.rate" rel="prev">
+        <a href="../sdr.FIRInterpolator.reset/" class="md-footer__link md-footer__link--prev" aria-label="Previous: sdr.FIRInterpolator.reset" rel="prev">
           <div class="md-footer__button md-icon">
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           </div>
@@ -6208,20 +6464,20 @@
               <span class="md-footer__direction">
                 Previous
               </span>
-              sdr.FIRInterpolator.rate
+              sdr.FIRInterpolator.reset
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-        <a href="../sdr.FIRInterpolator.taps/" class="md-footer__link md-footer__link--next" aria-label="Next: sdr.FIRInterpolator.taps" rel="next">
+        <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-footer__link md-footer__link--next" aria-label="Next: sdr.FIRInterpolator.polyphase_taps" rel="next">
           <div class="md-footer__title">
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                 Next
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-              sdr.FIRInterpolator.taps
+              sdr.FIRInterpolator.polyphase_taps
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           <div class="md-footer__button md-icon">
diff --git a/v0.0.x/api/sdr.FIRInterpolator.polyphase_taps/index.html b/v0.0.x/api/sdr.FIRInterpolator.polyphase_taps/index.html
index 3bc88ff64..6a71d0e79 100644
--- a/v0.0.x/api/sdr.FIRInterpolator.polyphase_taps/index.html
+++ b/v0.0.x/api/sdr.FIRInterpolator.polyphase_taps/index.html
@@ -642,14 +642,12 @@
               
   
   
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-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1" type="checkbox" id="__nav_3_1_1" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1" type="checkbox" id="__nav_3_1_1" >
       
       
       
@@ -836,7 +834,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -844,8 +842,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -943,7 +1009,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -951,14 +1017,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1044,20 +1110,18 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1065,10 +1129,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1087,7 +1151,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1109,8 +1173,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1140,7 +1219,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1162,8 +1241,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1193,7 +1272,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1201,10 +1280,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1215,8 +1294,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1235,20 +1329,18 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1256,10 +1348,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1267,57 +1359,12 @@
               
   
   
-    
-  
-    
   
   
-    <li class="md-nav__item md-nav__item--active">
-      
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
-      
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
-      
-        
-
-<nav class="md-nav md-nav--secondary">
-  
-  
-    
-  
-  
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
-      
-        <li class="md-nav__item">
-  <a href="#notes" class="md-nav__link">
-    <span class="md-ellipsis">Notes</span>
-  </a>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#examples" class="md-nav__link">
-    <span class="md-ellipsis">Examples</span>
-  </a>
-  
-</li>
-      
-    </ul>
-  
-</nav>
-      
     </li>
   
 
@@ -1330,8 +1377,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1345,8 +1392,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1360,19 +1407,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
   
   
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1393,24 +1447,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1419,30 +1473,15 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
-          
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
-          
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1451,8 +1490,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
       </a>
     </li>
   
@@ -1466,15 +1505,91 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
       </a>
     </li>
   
 
             
           
-        </ul>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
       </nav>
     </li>
   
@@ -1486,29 +1601,93 @@
               
   
   
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
+          
+            <label for="__nav_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
   
     
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,8 +1698,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1544,24 +1723,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1572,26 +1751,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1600,15 +1772,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1617,8 +1804,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1632,8 +1819,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1657,24 +1844,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1685,26 +1872,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1712,16 +1892,33 @@
               
   
   
+    
   
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1730,8 +1927,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1742,12 +1939,57 @@
               
   
   
+    
   
+    
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#notes" class="md-nav__link">
+    <span class="md-ellipsis">Notes</span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
     </li>
   
 
@@ -1760,8 +2002,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1775,8 +2017,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1799,6 +2041,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1816,7 +2073,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1824,14 +2081,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
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-            <label for="__nav_3_1_2_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
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           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -6239,7 +6496,7 @@
 \[h_{i, j} = h_{i + j r} .\]</div>
 </p>
 <p class="example rubric" id="examples">Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></p>
-<div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [1]: </span><span class="n">fir</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">FIRInterpolator</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="mi">10</span><span class="p">),</span> <span class="mi">3</span><span class="p">)</span>
+<div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [1]: </span><span class="n">fir</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">FIRInterpolator</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="n">np</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="mi">10</span><span class="p">))</span>
 
 <span class="gp">In [2]: </span><span class="n">fir</span><span class="o">.</span><span class="n">taps</span>
 <span class="gh">Out[2]: </span><span class="go">array([0, 1, 2, 3, 4, 5, 6, 7, 8, 9])</span>
@@ -6283,7 +6540,7 @@
     <nav class="md-footer__inner md-grid" aria-label="Footer" >
       
         
-        <a href="../sdr.FIRInterpolator.reset/" class="md-footer__link md-footer__link--prev" aria-label="Previous: sdr.FIRInterpolator.reset" rel="prev">
+        <a href="../sdr.FIRInterpolator.method/" class="md-footer__link md-footer__link--prev" aria-label="Previous: sdr.FIRInterpolator.method" rel="prev">
           <div class="md-footer__button md-icon">
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           </div>
@@ -6292,7 +6549,7 @@
               <span class="md-footer__direction">
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               </span>
-              sdr.FIRInterpolator.reset
+              sdr.FIRInterpolator.method
             </div>
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diff --git a/v0.0.x/api/sdr.FIRInterpolator.rate/index.html b/v0.0.x/api/sdr.FIRInterpolator.rate/index.html
index 62e3b2bd4..e2c01c16b 100644
--- a/v0.0.x/api/sdr.FIRInterpolator.rate/index.html
+++ b/v0.0.x/api/sdr.FIRInterpolator.rate/index.html
@@ -637,14 +637,12 @@
               
   
   
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+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1" type="checkbox" id="__nav_3_1_1" >
       
       
       
@@ -831,7 +829,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
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               <span class="md-nav__icon md-icon"></span>
@@ -839,8 +837,76 @@
           
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-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
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+  
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+    <li class="md-nav__item md-nav__item--nested">
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
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-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
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-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
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@@ -1060,10 +1124,10 @@
           
         </div>
       
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           <span class="md-nav__icon md-icon"></span>
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+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1082,7 +1146,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
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@@ -1104,8 +1168,23 @@
   
   
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+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1135,7 +1214,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1157,8 +1236,8 @@
   
   
     <li class="md-nav__item">
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+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
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@@ -1188,7 +1267,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
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@@ -1196,10 +1275,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
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           <span class="md-nav__icon md-icon"></span>
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+          <span class="md-ellipsis">String representation</span>
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@@ -1210,8 +1289,23 @@
   
   
     <li class="md-nav__item">
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+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1251,10 +1343,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
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@@ -1265,8 +1357,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,20 +1369,12 @@
               
   
   
-    
-  
-    
   
   
-    <li class="md-nav__item md-nav__item--active">
-      
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
-      
     </li>
   
 
@@ -1303,8 +1387,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1318,19 +1402,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
   
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1351,24 +1442,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1377,30 +1468,15 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
-          
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
-          
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1409,8 +1485,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
       </a>
     </li>
   
@@ -1424,51 +1500,28 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
-  
-  
-
-            
-          
             
               
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
-          
-            <label for="__nav_3_1_1_3_2">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
-          
-        </div>
-      
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1477,8 +1530,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1493,33 +1576,51 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1527,16 +1628,63 @@
               
   
   
+    
   
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
-      </a>
-    </li>
-  
-
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
             
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1545,14 +1693,52 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_2_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
             
               
   
@@ -1560,14 +1746,52 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
             
               
   
@@ -1575,8 +1799,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
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@@ -1590,8 +1814,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1615,24 +1839,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1643,26 +1867,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1670,16 +1887,33 @@
               
   
   
+    
   
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1688,8 +1922,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1703,8 +1937,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1715,12 +1949,20 @@
               
   
   
+    
   
+    
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
+      
     </li>
   
 
@@ -1733,8 +1975,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1757,6 +1999,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1774,7 +2031,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1782,14 +2039,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1804,7 +2061,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1812,14 +2069,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1834,7 +2091,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1842,14 +2099,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1887,7 +2144,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1895,14 +2152,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1940,7 +2197,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1948,14 +2205,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1993,7 +2250,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2001,14 +2258,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2092,7 +2349,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2100,14 +2357,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -6214,13 +6471,13 @@
       
       
         
-        <a href="../sdr.FIRInterpolator.streaming/" class="md-footer__link md-footer__link--next" aria-label="Next: sdr.FIRInterpolator.streaming" rel="next">
+        <a href="../sdr.FIRInterpolator.taps/" class="md-footer__link md-footer__link--next" aria-label="Next: sdr.FIRInterpolator.taps" rel="next">
           <div class="md-footer__title">
             <div class="md-ellipsis">
               <span class="md-footer__direction">
                 Next
               </span>
-              sdr.FIRInterpolator.streaming
+              sdr.FIRInterpolator.taps
             </div>
           </div>
           <div class="md-footer__button md-icon">
diff --git a/v0.0.x/api/sdr.FIRInterpolator.reset/index.html b/v0.0.x/api/sdr.FIRInterpolator.reset/index.html
index 66bb511dd..83faddec3 100644
--- a/v0.0.x/api/sdr.FIRInterpolator.reset/index.html
+++ b/v0.0.x/api/sdr.FIRInterpolator.reset/index.html
@@ -76,6 +76,11 @@
     <label class="md-overlay" for="__drawer"></label>
     <div data-md-component="skip">
       
+        
+        <a href="#examples" class="md-skip">
+          Skip to content
+        </a>
+      
     </div>
     <div data-md-component="announce">
       
@@ -637,14 +642,12 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1" type="checkbox" id="__nav_3_1_1" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1" type="checkbox" id="__nav_3_1_1" >
       
       
       
@@ -831,7 +834,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -839,8 +842,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -938,7 +1009,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -946,14 +1017,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1039,20 +1110,18 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1060,10 +1129,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1082,7 +1151,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1104,8 +1173,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1135,7 +1219,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1157,8 +1241,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1177,20 +1261,18 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_3" type="checkbox" id="__nav_3_1_1_2_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_3" type="checkbox" id="__nav_3_1_1_2_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1198,10 +1280,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,20 +1291,140 @@
               
   
   
-    
   
-    
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
   
-    <li class="md-nav__item md-nav__item--active">
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
       
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" >
       
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-      </a>
       
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
     </li>
   
 
@@ -1245,22 +1447,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_2_4">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_2_4">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1273,8 +1475,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
       </a>
     </li>
   
@@ -1288,8 +1490,53 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
       </a>
     </li>
   
@@ -1303,8 +1550,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
       </a>
     </li>
   
@@ -1318,8 +1565,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1342,33 +1589,43 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Multirate filtering</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1376,29 +1633,31 @@
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1407,15 +1666,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1424,8 +1698,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1449,22 +1723,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1477,8 +1751,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1502,24 +1776,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1530,8 +1804,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1545,26 +1819,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1572,27 +1839,82 @@
               
   
   
+    
   
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
   
   
+    
   
+    
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
     </li>
   
 
@@ -1615,22 +1937,22 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1643,8 +1965,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1658,8 +1980,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1673,8 +1995,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1688,41 +2010,27 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1733,8 +2041,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
       </a>
     </li>
   
@@ -1749,22 +2057,6 @@
 
             
           
-        </ul>
-      </nav>
-    </li>
-  
-  
-
-            
-          
-        </ul>
-      </nav>
-    </li>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1782,14 +2074,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1804,7 +2096,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1812,14 +2104,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1834,7 +2126,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1842,14 +2134,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1895,14 +2187,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1940,7 +2232,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1948,14 +2240,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2001,14 +2293,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2092,7 +2384,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2100,14 +2392,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -6150,6 +6442,21 @@
   
   
   
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
 </nav>
                   </div>
                 </div>
@@ -6166,6 +6473,8 @@
 <dt class="sig sig-object highlight py">
 <span class="sig-prename descclassname"><span class="pre">sdr.</span><span class="pre">FIRInterpolator.</span></span><span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span></dt>
 <dd><p><em>Streaming-mode only:</em> Resets the filter state.</p>
+<p class="example rubric" id="examples">Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></p>
+<p>See the <a class="reference internal" href="../../examples/fir-filters/#fir-filters"><span class="std std-ref">FIR filters</span></a> example.</p>
 </dd></dl>
 
 
@@ -6198,7 +6507,7 @@
     <nav class="md-footer__inner md-grid" aria-label="Footer" >
       
         
-        <a href="../sdr.FIRInterpolator.__call__/" class="md-footer__link md-footer__link--prev" aria-label="Previous: sdr.FIRInterpolator.__call__" rel="prev">
+        <a href="../sdr.FIRInterpolator.__str__/" class="md-footer__link md-footer__link--prev" aria-label="Previous: sdr.FIRInterpolator.__str__" rel="prev">
           <div class="md-footer__button md-icon">
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@@ -6207,20 +6516,20 @@
               <span class="md-footer__direction">
                 Previous
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-              sdr.FIRInterpolator.__call__
+              sdr.FIRInterpolator.__str__
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-        <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-footer__link md-footer__link--next" aria-label="Next: sdr.FIRInterpolator.polyphase_taps" rel="next">
+        <a href="../sdr.FIRInterpolator.method/" class="md-footer__link md-footer__link--next" aria-label="Next: sdr.FIRInterpolator.method" rel="next">
           <div class="md-footer__title">
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-              sdr.FIRInterpolator.polyphase_taps
+              sdr.FIRInterpolator.method
             </div>
           </div>
           <div class="md-footer__button md-icon">
diff --git a/v0.0.x/api/sdr.FIRInterpolator.taps/index.html b/v0.0.x/api/sdr.FIRInterpolator.taps/index.html
index 1f42fa830..3ae59150e 100644
--- a/v0.0.x/api/sdr.FIRInterpolator.taps/index.html
+++ b/v0.0.x/api/sdr.FIRInterpolator.taps/index.html
@@ -642,14 +642,12 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1" type="checkbox" id="__nav_3_1_1" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1" type="checkbox" id="__nav_3_1_1" >
       
       
       
@@ -836,7 +834,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -844,8 +842,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
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-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
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@@ -1065,10 +1129,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
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     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1140,7 +1219,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1162,8 +1241,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1193,7 +1272,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1201,10 +1280,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1215,8 +1294,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
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-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1256,10 +1348,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1270,8 +1362,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1285,8 +1377,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1300,8 +1392,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
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@@ -1312,67 +1404,29 @@
               
   
   
-    
-  
-    
   
   
-    <li class="md-nav__item md-nav__item--active">
-      
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
-      
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
-      
-        
-
-<nav class="md-nav md-nav--secondary">
-  
-  
-    
-  
-  
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
-      
-        <li class="md-nav__item">
-  <a href="#notes" class="md-nav__link">
-    <span class="md-ellipsis">Notes</span>
-  </a>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#examples" class="md-nav__link">
-    <span class="md-ellipsis">Examples</span>
-  </a>
-  
-</li>
-      
-    </ul>
-  
-</nav>
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-        </ul>
-      </nav>
-    </li>
+            
+              
+  
   
   
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1393,24 +1447,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1419,30 +1473,15 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
-          
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
-          
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1451,8 +1490,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
       </a>
     </li>
   
@@ -1466,15 +1505,91 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
       </a>
     </li>
   
 
             
           
-        </ul>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
       </nav>
     </li>
   
@@ -1486,29 +1601,93 @@
               
   
   
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
+          
+            <label for="__nav_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
   
     
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,8 +1698,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1544,24 +1723,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1572,26 +1751,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1600,15 +1772,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1617,8 +1804,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1632,8 +1819,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1657,24 +1844,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1685,26 +1872,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1712,16 +1892,33 @@
               
   
   
+    
   
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1730,8 +1927,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1745,8 +1942,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1760,8 +1957,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1772,12 +1969,57 @@
               
   
   
+    
+  
+    
   
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#notes" class="md-nav__link">
+    <span class="md-ellipsis">Notes</span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
     </li>
   
 
@@ -1799,6 +2041,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1816,7 +2073,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1824,14 +2081,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1846,7 +2103,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1854,14 +2111,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2035,7 +2292,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2043,14 +2300,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2134,7 +2391,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2142,14 +2399,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -6239,7 +6496,7 @@
 \[h_{i, j} = h_{i + j r} .\]</div>
 </p>
 <p class="example rubric" id="examples">Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></p>
-<div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [1]: </span><span class="n">fir</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">FIRInterpolator</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="mi">10</span><span class="p">),</span> <span class="mi">3</span><span class="p">)</span>
+<div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [1]: </span><span class="n">fir</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">FIRInterpolator</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="n">np</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="mi">10</span><span class="p">))</span>
 
 <span class="gp">In [2]: </span><span class="n">fir</span><span class="o">.</span><span class="n">taps</span>
 <span class="gh">Out[2]: </span><span class="go">array([0, 1, 2, 3, 4, 5, 6, 7, 8, 9])</span>
@@ -6283,7 +6540,7 @@
     <nav class="md-footer__inner md-grid" aria-label="Footer" >
       
         
-        <a href="../sdr.FIRInterpolator.streaming/" class="md-footer__link md-footer__link--prev" aria-label="Previous: sdr.FIRInterpolator.streaming" rel="prev">
+        <a href="../sdr.FIRInterpolator.rate/" class="md-footer__link md-footer__link--prev" aria-label="Previous: sdr.FIRInterpolator.rate" rel="prev">
           <div class="md-footer__button md-icon">
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           </div>
@@ -6292,20 +6549,20 @@
               <span class="md-footer__direction">
                 Previous
               </span>
-              sdr.FIRInterpolator.streaming
+              sdr.FIRInterpolator.rate
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           </div>
         </a>
       
       
         
-        <a href="../sdr.IIR/" class="md-footer__link md-footer__link--next" aria-label="Next: sdr.IIR" rel="next">
+        <a href="../sdr.multirate_fir/" class="md-footer__link md-footer__link--next" aria-label="Next: sdr.multirate_fir" rel="next">
           <div class="md-footer__title">
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                 Next
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-              sdr.IIR
+              sdr.multirate_fir
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diff --git a/v0.0.x/api/sdr.FIRInterpolator/index.html b/v0.0.x/api/sdr.FIRInterpolator/index.html
index 851617f70..152488da9 100644
--- a/v0.0.x/api/sdr.FIRInterpolator/index.html
+++ b/v0.0.x/api/sdr.FIRInterpolator/index.html
@@ -642,14 +642,12 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1" type="checkbox" id="__nav_3_1_1" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1" type="checkbox" id="__nav_3_1_1" >
       
       
       
@@ -836,7 +834,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
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@@ -844,8 +842,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
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+            <label for="__nav_3_1_1_1_5">
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-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
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-    
-  
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-    <li class="md-nav__item md-nav__item--active md-nav__current-nested md-nav__item--nested">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
       
       
       
         
-        <div class="md-nav__link md-nav__link--index md-nav__link--active">
-          <a href="#"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
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-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
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+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1088,7 +1151,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1110,8 +1173,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1141,7 +1219,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1163,8 +1241,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1194,7 +1272,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1202,10 +1280,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1216,8 +1294,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1247,7 +1340,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1255,10 +1348,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1269,8 +1362,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1284,8 +1377,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1299,8 +1392,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1314,19 +1407,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
   
   
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1335,149 +1435,165 @@
     </li>
   
   
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
       
-    <li class="md-nav__item md-nav__item--active md-nav__current-toc">
       
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
       
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
         </label>
-      
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
       </a>
-      
-        
+    </li>
+  
 
-<nav class="md-nav md-nav--secondary">
+            
+          
+            
+              
   
   
-    
   
   
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
-      
-        <li class="md-nav__item">
-  <a href="#notes" class="md-nav__link">
-    <span class="md-ellipsis">Notes</span>
-  </a>
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
   
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#constructors" class="md-nav__link">
-    <span class="md-ellipsis">Constructors</span>
-  </a>
+
+            
+          
+            
+              
   
-    <nav class="md-nav" aria-label="Constructors">
-      <ul class="md-nav__list">
-        
-          <li class="md-nav__item">
-  <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
-  </a>
   
-</li>
-        
-      </ul>
-    </nav>
   
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#special-methods" class="md-nav__link">
-    <span class="md-ellipsis">Special methods</span>
-  </a>
   
-    <nav class="md-nav" aria-label="Special methods">
-      <ul class="md-nav__list">
-        
-          <li class="md-nav__item">
-  <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
-  </a>
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
   
-</li>
-        
-      </ul>
-    </nav>
+
+            
+          
+            
+              
   
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#methods" class="md-nav__link">
-    <span class="md-ellipsis">Methods</span>
-  </a>
   
-    <nav class="md-nav" aria-label="Methods">
-      <ul class="md-nav__list">
-        
-          <li class="md-nav__item">
-  <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-  </a>
   
-</li>
-        
-      </ul>
-    </nav>
   
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#properties" class="md-nav__link">
-    <span class="md-ellipsis">Properties</span>
-  </a>
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
   
-    <nav class="md-nav" aria-label="Properties">
-      <ul class="md-nav__list">
-        
-          <li class="md-nav__item">
-  <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
-  </a>
+
+            
+          
+            
+              
   
-</li>
-        
-          <li class="md-nav__item">
-  <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
-  </a>
   
-</li>
-        
-          <li class="md-nav__item">
-  <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-  </a>
   
-</li>
-        
-          <li class="md-nav__item">
-  <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
-  </a>
   
-</li>
-        
-      </ul>
-    </nav>
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
   
-</li>
-      
-    </ul>
+
+            
+          
+            
+              
   
-</nav>
-      
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1485,29 +1601,31 @@
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Multirate filtering</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1515,29 +1633,32 @@
               
   
   
+    
   
     
-    <li class="md-nav__item md-nav__item--nested">
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__current-nested md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" checked>
       
       
       
         
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+        <div class="md-nav__link md-nav__link--index md-nav__link--active">
+          <a href="#"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1546,15 +1667,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1563,8 +1699,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1588,22 +1724,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1616,8 +1752,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1641,24 +1777,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="#string-representation"><span class="md-ellipsis">String representation</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1669,8 +1805,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1684,26 +1820,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1712,15 +1841,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1729,8 +1873,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
@@ -1754,22 +1898,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1782,8 +1926,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1796,70 +1940,233 @@
   
   
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
-    </li>
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+      
+    <li class="md-nav__item md-nav__item--active md-nav__current-toc">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#notes" class="md-nav__link">
+    <span class="md-ellipsis">Notes</span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#constructors" class="md-nav__link">
+    <span class="md-ellipsis">Constructors</span>
+  </a>
   
-
-            
-          
-            
-              
+    <nav class="md-nav" aria-label="Constructors">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+  </a>
   
+</li>
+        
+      </ul>
+    </nav>
   
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#special-methods" class="md-nav__link">
+    <span class="md-ellipsis">Special methods</span>
+  </a>
   
+    <nav class="md-nav" aria-label="Special methods">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+  </a>
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
+</li>
+        
+      </ul>
+    </nav>
   
-
-            
-          
-            
-              
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#string-representation" class="md-nav__link">
+    <span class="md-ellipsis">String representation</span>
+  </a>
   
+    <nav class="md-nav" aria-label="String representation">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+  </a>
   
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+  </a>
   
+</li>
+        
+      </ul>
+    </nav>
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
-      </a>
-    </li>
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#methods" class="md-nav__link">
+    <span class="md-ellipsis">Methods</span>
+  </a>
   
-
-            
-          
-            
-              
+    <nav class="md-nav" aria-label="Methods">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+  </a>
   
+</li>
+        
+      </ul>
+    </nav>
   
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#properties" class="md-nav__link">
+    <span class="md-ellipsis">Properties</span>
+  </a>
   
+    <nav class="md-nav" aria-label="Properties">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
+  </a>
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-      </a>
-    </li>
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+  </a>
   
-
-            
-          
-            
-              
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+  </a>
   
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+  </a>
   
+</li>
+        
+      </ul>
+    </nav>
   
+</li>
+      
+    </ul>
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-      </a>
+</nav>
+      
     </li>
   
 
@@ -1872,8 +2179,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
       </a>
     </li>
   
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@@ -1921,14 +2212,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1951,14 +2242,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1973,7 +2264,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1981,14 +2272,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
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         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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           <span class="md-ellipsis">Special methods</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2132,7 +2423,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2140,14 +2431,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2231,7 +2522,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2239,14 +2530,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -6300,6 +6591,13 @@
     <span class="md-ellipsis">Notes</span>
   </a>
   
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
 </li>
       
         <li class="md-nav__item">
@@ -6314,6 +6612,13 @@
     <span class="md-ellipsis">Special methods</span>
   </a>
   
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#string-representation" class="md-nav__link">
+    <span class="md-ellipsis">String representation</span>
+  </a>
+  
 </li>
       
         <li class="md-nav__item">
@@ -6346,7 +6651,7 @@
 
 <dl class="py class objdesc">
 <dt class="sig sig-object highlight py">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">sdr.</span></span><span class="sig-name descname"><span class="pre">FIRInterpolator</span></span></dt>
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">sdr.</span></span><span class="sig-name descname"><span class="pre">FIRInterpolator</span></span><span class="p"><span class="pre">(</span></span><span class="desctype"><a class="reference internal" href="../sdr.FIR/" title="sdr.FIR (Python class) — Implements a finite impulse response (FIR) filter."><span class="pre">sdr.FIR</span></a></span><span class="p"><span class="pre">)</span></span></dt>
 <dd><p>Implements a polyphase finite impulse response (FIR) interpolating filter.</p>
 <p class="rubric" id="notes">Notes<a class="headerlink" href="#notes" title="Permalink to this headline">¶</a></p>
 <p>The polyphase interpolating filter is equivalent to first upsampling the input signal <span class="math notranslate nohighlight">\(x[n]\)</span> by <span class="math notranslate nohighlight">\(r\)</span>
@@ -6377,10 +6682,84 @@
 <p><div class="math notranslate nohighlight">
 \[h_{i, j} = h_{i + j r} .\]</div>
 </p>
+<p class="example rubric" id="examples">Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></p>
+<p>Create an input signal to interpolate.</p>
+<div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [1]: </span><span class="n">x</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">cos</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">4</span> <span class="o">*</span> <span class="n">np</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="mi">40</span><span class="p">))</span>
+</code></pre></div>
+</div>
+<p>Create a polyphase filter that interpolates by 7 using the Kaiser window method.</p>
+<div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [2]: </span><span class="n">fir</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">FIRInterpolator</span><span class="p">(</span><span class="mi">7</span><span class="p">);</span> <span class="n">fir</span>
+<span class="gh">Out[2]: </span><span class="go">sdr.FIRInterpolator(7, &#39;kaiser&#39;, streaming=False)</span>
+
+<span class="gp">In [3]: </span><span class="n">y</span> <span class="o">=</span> <span class="n">fir</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
+
+<span class="gp">In [4]: </span><span class="n">plt</span><span class="o">.</span><span class="n">figure</span><span class="p">(</span><span class="n">figsize</span><span class="o">=</span><span class="p">(</span><span class="mi">8</span><span class="p">,</span> <span class="mi">4</span><span class="p">));</span> \
+<span class="gp">   ...: </span><span class="n">sdr</span><span class="o">.</span><span class="n">plot</span><span class="o">.</span><span class="n">time_domain</span><span class="p">(</span><span class="n">x</span><span class="p">,</span> <span class="n">marker</span><span class="o">=</span><span class="s2">&quot;o&quot;</span><span class="p">,</span> <span class="n">label</span><span class="o">=</span><span class="s2">&quot;Input&quot;</span><span class="p">);</span> \
+<span class="gp">   ...: </span><span class="n">sdr</span><span class="o">.</span><span class="n">plot</span><span class="o">.</span><span class="n">time_domain</span><span class="p">(</span><span class="n">y</span><span class="p">,</span> <span class="n">sample_rate</span><span class="o">=</span><span class="n">fir</span><span class="o">.</span><span class="n">rate</span><span class="p">,</span> <span class="n">offset</span><span class="o">=-</span><span class="n">fir</span><span class="o">.</span><span class="n">delay</span><span class="o">/</span><span class="n">fir</span><span class="o">.</span><span class="n">rate</span><span class="p">,</span> <span class="n">marker</span><span class="o">=</span><span class="s2">&quot;.&quot;</span><span class="p">,</span> <span class="n">label</span><span class="o">=</span><span class="s2">&quot;Filtered&quot;</span><span class="p">);</span> \
+<span class="gp">   ...: </span><span class="n">plt</span><span class="o">.</span><span class="n">title</span><span class="p">(</span><span class="s2">&quot;Interpolation by 7 with the Kaiser window method&quot;</span><span class="p">);</span> \
+<span class="gp">   ...: </span><span class="n">plt</span><span class="o">.</span><span class="n">tight_layout</span><span class="p">();</span>
+<span class="gp">   ...: </span>
+</code></pre></div>
+</div>
+<img alt="../../_images/sdr_fir_interpolator_1.png" src="../../_images/sdr_fir_interpolator_1.png" />
+<p>Create a polyphase filter that interpolates by 7 using linear method.</p>
+<div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [5]: </span><span class="n">fir</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">FIRInterpolator</span><span class="p">(</span><span class="mi">7</span><span class="p">,</span> <span class="s2">&quot;linear&quot;</span><span class="p">);</span> <span class="n">fir</span>
+<span class="gh">Out[5]: </span><span class="go">sdr.FIRInterpolator(7, &#39;linear&#39;, streaming=False)</span>
+
+<span class="gp">In [6]: </span><span class="n">fir</span><span class="o">.</span><span class="n">polyphase_taps</span>
+<span class="gh">Out[6]: </span>
+<span class="go">array([[0.        , 1.        ],</span>
+<span class="go">       [0.14285715, 0.85714287],</span>
+<span class="go">       [0.2857143 , 0.71428573],</span>
+<span class="go">       [0.42857143, 0.5714286 ],</span>
+<span class="go">       [0.5714286 , 0.42857143],</span>
+<span class="go">       [0.71428573, 0.2857143 ],</span>
+<span class="go">       [0.85714287, 0.14285715]], dtype=float32)</span>
+
+<span class="gp">In [7]: </span><span class="n">y</span> <span class="o">=</span> <span class="n">fir</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
+
+<span class="gp">In [8]: </span><span class="n">plt</span><span class="o">.</span><span class="n">figure</span><span class="p">(</span><span class="n">figsize</span><span class="o">=</span><span class="p">(</span><span class="mi">8</span><span class="p">,</span> <span class="mi">4</span><span class="p">));</span> \
+<span class="gp">   ...: </span><span class="n">sdr</span><span class="o">.</span><span class="n">plot</span><span class="o">.</span><span class="n">time_domain</span><span class="p">(</span><span class="n">x</span><span class="p">,</span> <span class="n">marker</span><span class="o">=</span><span class="s2">&quot;o&quot;</span><span class="p">,</span> <span class="n">label</span><span class="o">=</span><span class="s2">&quot;Input&quot;</span><span class="p">);</span> \
+<span class="gp">   ...: </span><span class="n">sdr</span><span class="o">.</span><span class="n">plot</span><span class="o">.</span><span class="n">time_domain</span><span class="p">(</span><span class="n">y</span><span class="p">,</span> <span class="n">sample_rate</span><span class="o">=</span><span class="n">fir</span><span class="o">.</span><span class="n">rate</span><span class="p">,</span> <span class="n">offset</span><span class="o">=-</span><span class="n">fir</span><span class="o">.</span><span class="n">delay</span><span class="o">/</span><span class="n">fir</span><span class="o">.</span><span class="n">rate</span><span class="p">,</span> <span class="n">marker</span><span class="o">=</span><span class="s2">&quot;.&quot;</span><span class="p">,</span> <span class="n">label</span><span class="o">=</span><span class="s2">&quot;Filtered&quot;</span><span class="p">);</span>
+<span class="gp">   ...: </span>
+
+<span class="gp">In [9]: </span><span class="n">plt</span><span class="o">.</span><span class="n">title</span><span class="p">(</span><span class="s2">&quot;Interpolation by 7 with the linear method&quot;</span><span class="p">);</span> \
+<span class="gp">   ...: </span><span class="n">plt</span><span class="o">.</span><span class="n">tight_layout</span><span class="p">();</span>
+<span class="gp">   ...: </span>
+</code></pre></div>
+</div>
+<img alt="../../_images/sdr_fir_interpolator_2.png" src="../../_images/sdr_fir_interpolator_2.png" />
+<p>Create a polyphase filter that interpolates by 7 using the zero-order hold method.</p>
+<div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [10]: </span><span class="n">fir</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">FIRInterpolator</span><span class="p">(</span><span class="mi">7</span><span class="p">,</span> <span class="s2">&quot;zoh&quot;</span><span class="p">);</span> <span class="n">fir</span>
+<span class="gh">Out[10]: </span><span class="go">sdr.FIRInterpolator(7, &#39;zoh&#39;, streaming=False)</span>
+
+<span class="gp">In [11]: </span><span class="n">fir</span><span class="o">.</span><span class="n">polyphase_taps</span>
+<span class="gh">Out[11]: </span>
+<span class="go">array([[1.],</span>
+<span class="go">       [1.],</span>
+<span class="go">       [1.],</span>
+<span class="go">       [1.],</span>
+<span class="go">       [1.],</span>
+<span class="go">       [1.],</span>
+<span class="go">       [1.]], dtype=float32)</span>
+
+<span class="gp">In [12]: </span><span class="n">y</span> <span class="o">=</span> <span class="n">fir</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
+
+<span class="gp">In [13]: </span><span class="n">plt</span><span class="o">.</span><span class="n">figure</span><span class="p">(</span><span class="n">figsize</span><span class="o">=</span><span class="p">(</span><span class="mi">8</span><span class="p">,</span> <span class="mi">4</span><span class="p">));</span> \
+<span class="gp">   ....: </span><span class="n">sdr</span><span class="o">.</span><span class="n">plot</span><span class="o">.</span><span class="n">time_domain</span><span class="p">(</span><span class="n">x</span><span class="p">,</span> <span class="n">marker</span><span class="o">=</span><span class="s2">&quot;o&quot;</span><span class="p">,</span> <span class="n">label</span><span class="o">=</span><span class="s2">&quot;Input&quot;</span><span class="p">);</span> \
+<span class="gp">   ....: </span><span class="n">sdr</span><span class="o">.</span><span class="n">plot</span><span class="o">.</span><span class="n">time_domain</span><span class="p">(</span><span class="n">y</span><span class="p">,</span> <span class="n">sample_rate</span><span class="o">=</span><span class="n">fir</span><span class="o">.</span><span class="n">rate</span><span class="p">,</span> <span class="n">offset</span><span class="o">=-</span><span class="n">fir</span><span class="o">.</span><span class="n">delay</span><span class="o">/</span><span class="n">fir</span><span class="o">.</span><span class="n">rate</span><span class="p">,</span> <span class="n">marker</span><span class="o">=</span><span class="s2">&quot;.&quot;</span><span class="p">,</span> <span class="n">label</span><span class="o">=</span><span class="s2">&quot;Filtered&quot;</span><span class="p">);</span>
+<span class="gp">   ....: </span>
+
+<span class="gp">In [14]: </span><span class="n">plt</span><span class="o">.</span><span class="n">title</span><span class="p">(</span><span class="s2">&quot;Interpolation by 7 with the zero-order hold method&quot;</span><span class="p">);</span> \
+<span class="gp">   ....: </span><span class="n">plt</span><span class="o">.</span><span class="n">tight_layout</span><span class="p">();</span>
+<span class="gp">   ....: </span>
+</code></pre></div>
+</div>
+<img alt="../../_images/sdr_fir_interpolator_3.png" src="../../_images/sdr_fir_interpolator_3.png" />
 <h2 id="constructors">Constructors<a class="headerlink" href="#constructors" title="Permalink to this heading">¶</a></h2>
 <dl class="py method summary objdesc">
 <dt class="sig sig-object highlight py">
-<a class="sig-name descname pseudo-toc-entry reference internal" href="../sdr.FIRInterpolator.__init__/" title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$."><span class="sig-name descname pseudo-toc-entry"><span class="pre">FIRInterpolator</span></span></a><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="../sdr.FIRInterpolator.__init__/#p-taps" title="sdr.FIRInterpolator.__init__.taps (Python parameter) — The feedforward coefficients $h_i$."><span class="n"><span class="pre">taps</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><span class="pre">ArrayLike</span></span></span></em>, </span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="../sdr.FIRInterpolator.__init__/#p-rate" title="sdr.FIRInterpolator.__init__.rate (Python parameter) — The interpolation rate $r$."><span class="n"><span class="pre">rate</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.11)"><span class="pre">int</span></a></span></span></em>, </span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="../sdr.FIRInterpolator.__init__/#p-streaming" title="sdr.FIRInterpolator.__init__.streaming (Python parameter) — Indicates whether to use streaming mode. In streaming mode, previous inputs are preserved between calls to __call__()."><span class="n"><span class="pre">streaming</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.11)"><span class="pre">bool</span></a></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><code class="code python default_value docutils literal highlight highlight-python"><span class="kc">False</span></code></em></span><span class="sig-paren">)</span></dt>
+<a class="sig-name descname pseudo-toc-entry reference internal" href="../sdr.FIRInterpolator.__init__/" title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$."><span class="sig-name descname pseudo-toc-entry"><span class="pre">FIRInterpolator</span></span></a><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="../sdr.FIRInterpolator.__init__/#p-rate" title="sdr.FIRInterpolator.__init__.rate (Python parameter) — The interpolation rate $r$."><span class="n"><span class="pre">rate</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.11)"><span class="pre">int</span></a></span></span></em>, </span><span class="sig-param-decl"><em class="sig-param"><span class="p"><span class="pre">...</span></span></em></span><span class="sig-paren">)</span></dt>
 <dd><p>Creates a polyphase FIR interpolating filter with feedforward coefficients <span class="math notranslate nohighlight">\(h_i\)</span>.</p>
 </dd></dl>
 
@@ -6393,18 +6772,83 @@ <h2 id="special-methods">Special methods<a class="headerlink" href="#special-met
 <dd><p>Filters and interpolates the input signal <span class="math notranslate nohighlight">\(x[n]\)</span> with the FIR filter.</p>
 </dd></dl>
 
+<dl class="py method summary objdesc">
+<dt class="sig sig-object highlight py">
+<a class="sig-name descname reference internal" href="../sdr.FIR.__len__/" title="sdr.FIR.__len__ (Python method) — Returns the filter length $N$."><span class="sig-name descname"><span class="pre">__len__</span></span></a><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.11)"><span class="pre">int</span></a></span></span></span></dt>
+<dd><p>Returns the filter length <span class="math notranslate nohighlight">\(N\)</span>.</p>
+</dd></dl>
+
+<div class="toctree-wrapper compound">
+</div>
+<h2 id="string-representation">String representation<a class="headerlink" href="#string-representation" title="Permalink to this heading">¶</a></h2>
+<dl class="py method summary objdesc">
+<dt class="sig sig-object highlight py">
+<a class="sig-name descname pseudo-toc-entry reference internal" href="../sdr.FIRInterpolator.__repr__/" title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object."><span class="sig-name descname pseudo-toc-entry"><span class="pre">__repr__</span></span></a><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.11)"><span class="pre">str</span></a></span></span></span></dt>
+<dd><p>Returns a code-styled string representation of the object.</p>
+</dd></dl>
+
+<dl class="py method summary objdesc">
+<dt class="sig sig-object highlight py">
+<a class="sig-name descname pseudo-toc-entry reference internal" href="../sdr.FIRInterpolator.__str__/" title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object."><span class="sig-name descname pseudo-toc-entry"><span class="pre">__str__</span></span></a><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.11)"><span class="pre">str</span></a></span></span></span></dt>
+<dd><p>Returns a human-readable string representation of the object.</p>
+</dd></dl>
+
 <div class="toctree-wrapper compound">
 </div>
 <h2 id="methods">Methods<a class="headerlink" href="#methods" title="Permalink to this heading">¶</a></h2>
+<dl class="py method summary objdesc">
+<dt class="sig sig-object highlight py">
+<a class="sig-name descname reference internal" href="../sdr.FIR.frequency_response/" title="sdr.FIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the FIR filter."><span class="sig-name descname"><span class="pre">frequency_response</span></span></a><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><span class="p"><span class="pre">...</span></span></em></span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.11)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.25)"><span class="pre">numpy.ndarray</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.25)"><span class="pre">numpy.ndarray</span></a><span class="p"><span class="pre">]</span></span></span></span></span></dt>
+<dd><p>Returns the frequency response <span class="math notranslate nohighlight">\(H(f)\)</span> of the FIR filter.</p>
+</dd></dl>
+
+<dl class="py method summary objdesc">
+<dt class="sig sig-object highlight py">
+<a class="sig-name descname reference internal" href="../sdr.FIR.frequency_response_log/" title="sdr.FIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the FIR filter on a logarithmic frequency axis."><span class="sig-name descname"><span class="pre">frequency_response_log</span></span></a><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><span class="p"><span class="pre">...</span></span></em></span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.11)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.25)"><span class="pre">numpy.ndarray</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.25)"><span class="pre">numpy.ndarray</span></a><span class="p"><span class="pre">]</span></span></span></span></span></dt>
+<dd><p>Returns the frequency response <span class="math notranslate nohighlight">\(H(f)\)</span> of the FIR filter on a logarithmic frequency axis.</p>
+</dd></dl>
+
+<dl class="py method summary objdesc">
+<dt class="sig sig-object highlight py">
+<a class="sig-name descname reference internal" href="../sdr.FIR.impulse_response/" title="sdr.FIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the FIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$."><span class="sig-name descname"><span class="pre">impulse_response</span></span></a><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="../sdr.FIR.impulse_response/#p-N" title="sdr.FIR.impulse_response.N (Python parameter) — The number of samples to return. The default is the filter length."><span class="n"><span class="pre">N</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.11)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.11)"><span class="pre">None</span></a></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><code class="code python default_value docutils literal highlight highlight-python"><span class="kc">None</span></code></em></span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.25)"><span class="pre">ndarray</span></a></span></span></span></dt>
+<dd><p>Returns the impulse response <span class="math notranslate nohighlight">\(h[n]\)</span> of the FIR filter. The impulse response <span class="math notranslate nohighlight">\(h[n]\)</span> is the
+filter output when the input is an impulse <span class="math notranslate nohighlight">\(\delta[n]\)</span>.</p>
+</dd></dl>
+
 <dl class="py method summary objdesc">
 <dt class="sig sig-object highlight py">
 <a class="sig-name descname pseudo-toc-entry reference internal" href="../sdr.FIRInterpolator.reset/" title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state."><span class="sig-name descname pseudo-toc-entry"><span class="pre">reset</span></span></a><span class="sig-paren">(</span><span class="sig-paren">)</span></dt>
 <dd><p><em>Streaming-mode only:</em> Resets the filter state.</p>
 </dd></dl>
 
+<dl class="py method summary objdesc">
+<dt class="sig sig-object highlight py">
+<a class="sig-name descname reference internal" href="../sdr.FIR.step_response/" title="sdr.FIR.step_response (Python method) — Returns the step response $s[n]$ of the FIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$."><span class="sig-name descname"><span class="pre">step_response</span></span></a><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="../sdr.FIR.step_response/#p-N" title="sdr.FIR.step_response.N (Python parameter) — The number of samples to return. The default is the filter length."><span class="n"><span class="pre">N</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.11)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.11)"><span class="pre">None</span></a></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><code class="code python default_value docutils literal highlight highlight-python"><span class="kc">None</span></code></em></span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.25)"><span class="pre">ndarray</span></a></span></span></span></dt>
+<dd><p>Returns the step response <span class="math notranslate nohighlight">\(s[n]\)</span> of the FIR filter. The step response <span class="math notranslate nohighlight">\(s[n]\)</span> is the
+filter output when the input is a unit step <span class="math notranslate nohighlight">\(u[n]\)</span>.</p>
+</dd></dl>
+
 <div class="toctree-wrapper compound">
 </div>
 <h2 id="properties">Properties<a class="headerlink" href="#properties" title="Permalink to this heading">¶</a></h2>
+<dl class="py property summary objdesc">
+<dt class="sig sig-object highlight py">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><a class="sig-name descname reference internal" href="../sdr.FIR.delay/" title="sdr.FIR.delay (Python property) — The delay of the FIR filter in samples."><span class="sig-name descname"><span class="pre">delay</span></span></a><span class="p"> <span class="pre">:</span> </span><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.11)"><span class="pre">int</span></a></span></dt>
+<dd><p>The delay of the FIR filter in samples.</p>
+</dd></dl>
+
+<dl class="py property summary objdesc">
+<dt class="sig sig-object highlight py">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><a class="sig-name descname pseudo-toc-entry reference internal" href="../sdr.FIRInterpolator.method/" title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter."><span class="sig-name descname pseudo-toc-entry"><span class="pre">method</span></span></a><span class="p"> <span class="pre">:</span> </span><span class="desctype"><span class="s"><span class="pre">'kaiser'</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="s"><span class="pre">'linear'</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="s"><span class="pre">'zoh'</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="s"><span class="pre">'custom'</span></span></span></dt>
+<dd><p>The method used to design the multirate filter.</p>
+</dd></dl>
+
+<dl class="py property summary objdesc">
+<dt class="sig sig-object highlight py">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><a class="sig-name descname reference internal" href="../sdr.FIR.order/" title="sdr.FIR.order (Python property) — The order of the FIR filter, $N$."><span class="sig-name descname"><span class="pre">order</span></span></a><span class="p"> <span class="pre">:</span> </span><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.11)"><span class="pre">int</span></a></span></dt>
+<dd><p>The order of the FIR filter, <span class="math notranslate nohighlight">\(N\)</span>.</p>
+</dd></dl>
+
 <dl class="py property summary objdesc">
 <dt class="sig sig-object highlight py">
 <em class="property"><span class="pre">property</span><span class="w"> </span></em><a class="sig-name descname pseudo-toc-entry reference internal" href="../sdr.FIRInterpolator.polyphase_taps/" title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$."><span class="sig-name descname pseudo-toc-entry"><span class="pre">polyphase_taps</span></span></a><span class="p"> <span class="pre">:</span> </span><span class="desctype"><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.25)"><span class="pre">ndarray</span></a></span></dt>
@@ -6419,7 +6863,7 @@ <h2 id="properties">Properties<a class="headerlink" href="#properties" title="Pe
 
 <dl class="py property summary objdesc">
 <dt class="sig sig-object highlight py">
-<em class="property"><span class="pre">property</span><span class="w"> </span></em><a class="sig-name descname pseudo-toc-entry reference internal" href="../sdr.FIRInterpolator.streaming/" title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode."><span class="sig-name descname pseudo-toc-entry"><span class="pre">streaming</span></span></a><span class="p"> <span class="pre">:</span> </span><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.11)"><span class="pre">bool</span></a></span></dt>
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><a class="sig-name descname reference internal" href="../sdr.FIR.streaming/" title="sdr.FIR.streaming (Python property) — Indicates whether the filter is in streaming mode."><span class="sig-name descname"><span class="pre">streaming</span></span></a><span class="p"> <span class="pre">:</span> </span><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.11)"><span class="pre">bool</span></a></span></dt>
 <dd><p>Indicates whether the filter is in streaming mode.</p>
 </dd></dl>
 
@@ -6463,7 +6907,7 @@ <h2 id="properties">Properties<a class="headerlink" href="#properties" title="Pe
     <nav class="md-footer__inner md-grid" aria-label="Footer" >
       
         
-        <a href="../sdr.FIR.taps/" class="md-footer__link md-footer__link--prev" aria-label="Previous: sdr.FIR.taps" rel="prev">
+        <a href="../sdr.IIR.zeros/" class="md-footer__link md-footer__link--prev" aria-label="Previous: sdr.IIR.zeros" rel="prev">
           <div class="md-footer__button md-icon">
             <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
           </div>
@@ -6472,7 +6916,7 @@ <h2 id="properties">Properties<a class="headerlink" href="#properties" title="Pe
               <span class="md-footer__direction">
                 Previous
               </span>
-              sdr.FIR.taps
+              sdr.IIR.zeros
             </div>
           </div>
         </a>
diff --git a/v0.0.x/api/sdr.FarrowResampler.__call__/index.html b/v0.0.x/api/sdr.FarrowResampler.__call__/index.html
index 465ec0fb5..f3330d472 100644
--- a/v0.0.x/api/sdr.FarrowResampler.__call__/index.html
+++ b/v0.0.x/api/sdr.FarrowResampler.__call__/index.html
@@ -834,7 +834,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -842,8 +842,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -941,7 +1009,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -949,14 +1017,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1053,7 +1121,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1061,10 +1129,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1083,7 +1151,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1105,8 +1173,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1136,7 +1219,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1158,8 +1241,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1189,7 +1272,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1197,10 +1280,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1211,8 +1294,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1242,7 +1340,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1250,10 +1348,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1264,8 +1362,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1279,8 +1377,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1294,8 +1392,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1309,19 +1407,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
   
   
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1342,24 +1447,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1368,30 +1473,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1400,8 +1520,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1415,8 +1535,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1431,6 +1581,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1440,24 +1606,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1468,8 +1694,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1493,24 +1719,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1521,26 +1747,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1549,15 +1768,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1566,8 +1800,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1581,8 +1815,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1606,24 +1840,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1634,26 +1868,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1662,15 +1889,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1679,8 +1921,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1694,8 +1936,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1709,8 +1951,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1724,8 +1966,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1748,6 +1990,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1767,7 +2024,7 @@
     <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" checked>
       
       
       
@@ -1775,14 +2032,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1799,7 +2056,7 @@
     <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" checked>
       
       
       
@@ -1807,14 +2064,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1829,7 +2086,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1837,14 +2094,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1884,7 +2141,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" checked>
       
       
       
@@ -1892,14 +2149,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -2009,7 +2266,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -2017,14 +2274,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2062,7 +2319,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2070,14 +2327,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2161,7 +2418,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2169,14 +2426,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.FarrowResampler.__init__/index.html b/v0.0.x/api/sdr.FarrowResampler.__init__/index.html
index f803e1c09..d5f255150 100644
--- a/v0.0.x/api/sdr.FarrowResampler.__init__/index.html
+++ b/v0.0.x/api/sdr.FarrowResampler.__init__/index.html
@@ -834,7 +834,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -842,8 +842,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -941,7 +1009,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -949,14 +1017,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1053,7 +1121,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1061,10 +1129,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1083,7 +1151,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1105,8 +1173,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1136,7 +1219,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1158,8 +1241,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1189,7 +1272,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1197,10 +1280,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1211,8 +1294,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1242,7 +1340,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1250,10 +1348,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1264,8 +1362,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1279,8 +1377,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1294,8 +1392,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1309,19 +1407,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
   
   
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1342,24 +1447,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1368,30 +1473,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1400,8 +1520,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1415,8 +1535,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1431,6 +1581,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1440,24 +1606,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1468,8 +1694,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1493,24 +1719,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1521,26 +1747,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1549,15 +1768,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1566,8 +1800,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1581,8 +1815,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1606,24 +1840,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1634,26 +1868,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1662,15 +1889,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1679,8 +1921,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1694,8 +1936,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1709,8 +1951,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1724,8 +1966,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1748,6 +1990,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1767,7 +2024,7 @@
     <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" checked>
       
       
       
@@ -1775,14 +2032,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1799,7 +2056,7 @@
     <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" checked>
       
       
       
@@ -1807,14 +2064,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1831,7 +2088,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" checked>
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@@ -1839,14 +2096,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1950,14 +2207,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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@@ -2003,14 +2260,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -2056,14 +2313,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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           <span class="md-ellipsis">Properties</span>
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@@ -2147,7 +2404,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2155,14 +2412,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.FarrowResampler.order/index.html b/v0.0.x/api/sdr.FarrowResampler.order/index.html
index f30a33f3b..f8e73fbe7 100644
--- a/v0.0.x/api/sdr.FarrowResampler.order/index.html
+++ b/v0.0.x/api/sdr.FarrowResampler.order/index.html
@@ -834,7 +834,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -842,8 +842,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -941,7 +1009,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -949,14 +1017,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1053,7 +1121,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1061,10 +1129,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1083,7 +1151,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1105,8 +1173,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1136,7 +1219,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1158,8 +1241,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1189,7 +1272,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1197,10 +1280,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1211,8 +1294,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1242,7 +1340,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1250,10 +1348,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1264,8 +1362,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1279,8 +1377,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1294,8 +1392,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1309,19 +1407,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
   
   
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1342,24 +1447,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1368,30 +1473,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1400,8 +1520,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1415,8 +1535,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1431,6 +1581,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1440,24 +1606,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1468,8 +1694,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1493,24 +1719,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1521,26 +1747,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1549,15 +1768,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1566,8 +1800,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1581,8 +1815,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1606,24 +1840,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1634,26 +1868,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1662,15 +1889,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1679,8 +1921,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1694,8 +1936,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1709,8 +1951,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1724,8 +1966,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1748,6 +1990,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
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@@ -1767,7 +2024,7 @@
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@@ -1775,14 +2032,14 @@
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-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
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@@ -1807,14 +2064,14 @@
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-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1829,7 +2086,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1837,14 +2094,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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           <span class="md-ellipsis">Constructors</span>
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@@ -1882,7 +2139,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1890,14 +2147,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
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@@ -1935,7 +2192,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1943,14 +2200,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1990,7 +2247,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" checked>
       
       
       
@@ -1998,14 +2255,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2127,7 +2384,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2135,14 +2392,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.FarrowResampler.reset/index.html b/v0.0.x/api/sdr.FarrowResampler.reset/index.html
index 577afd0f2..6841d6152 100644
--- a/v0.0.x/api/sdr.FarrowResampler.reset/index.html
+++ b/v0.0.x/api/sdr.FarrowResampler.reset/index.html
@@ -834,7 +834,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -842,8 +842,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -941,7 +1009,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -949,14 +1017,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1053,7 +1121,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1061,10 +1129,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1083,7 +1151,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1105,8 +1173,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1136,7 +1219,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1158,8 +1241,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1189,7 +1272,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1197,10 +1280,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1211,8 +1294,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1242,7 +1340,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1250,10 +1348,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1264,8 +1362,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1279,8 +1377,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1294,8 +1392,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1309,19 +1407,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
   
   
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1342,24 +1447,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1368,30 +1473,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1400,8 +1520,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1415,8 +1535,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1431,6 +1581,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1440,24 +1606,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1468,8 +1694,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1493,24 +1719,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1521,26 +1747,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1549,15 +1768,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1566,8 +1800,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1581,8 +1815,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1606,24 +1840,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1634,26 +1868,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1662,15 +1889,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1679,8 +1921,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1694,8 +1936,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1709,8 +1951,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1724,8 +1966,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1748,6 +1990,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1767,7 +2024,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" checked>
       
       
       
@@ -1775,14 +2032,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1799,7 +2056,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" checked>
       
       
       
@@ -1807,14 +2064,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1829,7 +2086,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1837,14 +2094,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1882,7 +2139,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1890,14 +2147,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1937,7 +2194,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" checked>
       
       
       
@@ -1945,14 +2202,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2048,7 +2305,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2056,14 +2313,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2147,7 +2404,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2155,14 +2412,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.FarrowResampler.streaming/index.html b/v0.0.x/api/sdr.FarrowResampler.streaming/index.html
index 5b595f858..6c444519e 100644
--- a/v0.0.x/api/sdr.FarrowResampler.streaming/index.html
+++ b/v0.0.x/api/sdr.FarrowResampler.streaming/index.html
@@ -834,7 +834,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -842,8 +842,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -941,7 +1009,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -949,14 +1017,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1053,7 +1121,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1061,10 +1129,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1083,7 +1151,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1105,8 +1173,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1136,7 +1219,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1158,8 +1241,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1189,7 +1272,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
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         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1211,8 +1294,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1242,7 +1340,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1250,10 +1348,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1264,8 +1362,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1279,8 +1377,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1294,8 +1392,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1309,19 +1407,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
   
   
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1342,24 +1447,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1368,30 +1473,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1400,8 +1520,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1415,8 +1535,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1431,6 +1581,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1440,24 +1606,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1468,8 +1694,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1493,24 +1719,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1521,26 +1747,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1549,15 +1768,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1566,8 +1800,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1581,8 +1815,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1606,24 +1840,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
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+            <label for="__nav_3_1_2_1_4">
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1634,26 +1868,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1662,15 +1889,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1679,8 +1921,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1694,8 +1936,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1709,8 +1951,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1724,8 +1966,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1748,6 +1990,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1767,7 +2024,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" checked>
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@@ -1775,14 +2032,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1799,7 +2056,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" checked>
       
       
       
@@ -1807,14 +2064,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1829,7 +2086,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1837,14 +2094,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1890,14 +2147,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1943,14 +2200,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1990,7 +2247,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" checked>
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@@ -1998,14 +2255,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2127,7 +2384,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2135,14 +2392,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.FarrowResampler.taps/index.html b/v0.0.x/api/sdr.FarrowResampler.taps/index.html
index d3c8a2e0b..5a7e322dc 100644
--- a/v0.0.x/api/sdr.FarrowResampler.taps/index.html
+++ b/v0.0.x/api/sdr.FarrowResampler.taps/index.html
@@ -834,7 +834,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -842,8 +842,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -941,7 +1009,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -949,14 +1017,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1053,7 +1121,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1061,10 +1129,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1083,7 +1151,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1105,8 +1173,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1136,7 +1219,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1158,8 +1241,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1189,7 +1272,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1197,10 +1280,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1211,8 +1294,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1242,7 +1340,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1250,10 +1348,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1264,8 +1362,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1279,8 +1377,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1294,8 +1392,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1309,19 +1407,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
   
   
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1342,24 +1447,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1368,30 +1473,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1400,8 +1520,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1415,8 +1535,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1431,6 +1581,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1440,24 +1606,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1468,8 +1694,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1493,24 +1719,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1521,26 +1747,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1549,15 +1768,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1566,8 +1800,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
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@@ -1581,8 +1815,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1606,24 +1840,24 @@
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1634,26 +1868,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1662,15 +1889,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1679,8 +1921,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1694,8 +1936,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1709,8 +1951,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1724,8 +1966,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1748,6 +1990,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1767,7 +2024,7 @@
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@@ -1775,14 +2032,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
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+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" checked>
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1837,14 +2094,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1890,14 +2147,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1943,14 +2200,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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@@ -1998,14 +2255,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2135,14 +2392,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
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diff --git a/v0.0.x/api/sdr.FarrowResampler/index.html b/v0.0.x/api/sdr.FarrowResampler/index.html
index f9abe685f..c88eecacd 100644
--- a/v0.0.x/api/sdr.FarrowResampler/index.html
+++ b/v0.0.x/api/sdr.FarrowResampler/index.html
@@ -834,7 +834,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -842,8 +842,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -941,7 +1009,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -949,14 +1017,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1053,7 +1121,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1061,10 +1129,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1083,7 +1151,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1105,8 +1173,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1136,7 +1219,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1158,8 +1241,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1189,7 +1272,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1197,10 +1280,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1211,8 +1294,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1242,7 +1340,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1250,10 +1348,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1264,8 +1362,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1279,8 +1377,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1294,8 +1392,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1309,19 +1407,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
   
   
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1342,24 +1447,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1368,30 +1473,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1400,8 +1520,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1415,14 +1535,60 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
       </a>
     </li>
   
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1440,24 +1606,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1468,8 +1694,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1493,24 +1719,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1521,26 +1747,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1549,15 +1768,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1566,8 +1800,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1581,8 +1815,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1606,24 +1840,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1634,26 +1868,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1662,15 +1889,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1679,8 +1921,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1694,8 +1936,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1709,8 +1951,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1724,8 +1966,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1748,6 +1990,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1767,7 +2024,7 @@
     <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" checked>
       
       
       
@@ -1775,14 +2032,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1800,7 +2057,7 @@
     <li class="md-nav__item md-nav__item--active md-nav__current-nested md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" checked>
       
       
       
@@ -1808,14 +2065,14 @@
         <div class="md-nav__link md-nav__link--index md-nav__link--active">
           <a href="#"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1830,7 +2087,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1838,14 +2095,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1883,7 +2140,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1891,14 +2148,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1936,7 +2193,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1944,14 +2201,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1989,7 +2246,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
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         <div class="md-nav__link md-nav__link--index ">
           <a href="#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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           <span class="md-ellipsis">Properties</span>
         </label>
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     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2239,14 +2496,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -6441,7 +6698,7 @@ <h2 id="properties">Properties<a class="headerlink" href="#properties" title="Pe
     <nav class="md-footer__inner md-grid" aria-label="Footer" >
       
         
-        <a href="../sdr.IIR.zeros/" class="md-footer__link md-footer__link--prev" aria-label="Previous: sdr.IIR.zeros" rel="prev">
+        <a href="../sdr.multirate_fir/" class="md-footer__link md-footer__link--prev" aria-label="Previous: sdr.multirate_fir" rel="prev">
           <div class="md-footer__button md-icon">
             <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
           </div>
@@ -6450,7 +6707,7 @@ <h2 id="properties">Properties<a class="headerlink" href="#properties" title="Pe
               <span class="md-footer__direction">
                 Previous
               </span>
-              sdr.IIR.zeros
+              sdr.multirate_fir
             </div>
           </div>
         </a>
diff --git a/v0.0.x/api/sdr.IIR.ZerosPoles/index.html b/v0.0.x/api/sdr.IIR.ZerosPoles/index.html
index d74d3a63e..a9b0ea18d 100644
--- a/v0.0.x/api/sdr.IIR.ZerosPoles/index.html
+++ b/v0.0.x/api/sdr.IIR.ZerosPoles/index.html
@@ -836,7 +836,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -844,8 +844,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -943,7 +1011,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -951,14 +1019,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1044,18 +1112,20 @@
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1063,10 +1133,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1074,18 +1144,20 @@
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_1" type="checkbox" id="__nav_3_1_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_1" type="checkbox" id="__nav_3_1_1_2_1" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1107,9 +1179,103 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#parameters" class="md-nav__link">
+    <span class="md-ellipsis">Parameters</span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Parameters">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#p-zeros" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.ZerosPoles.zeros (Python parameter) — The zeros of the transfer function." class="md-ellipsis">zeros</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-poles" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.ZerosPoles.poles (Python parameter) — The poles of the transfer function." class="md-ellipsis">poles</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-gain" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.ZerosPoles.gain (Python parameter) — The gain of the transfer function." class="md-ellipsis">gain</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-streaming" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.ZerosPoles.streaming (Python parameter) — Indicates whether to use streaming mode. In streaming mode, previous inputs and outputs are preserved between calls to __call__()." class="md-ellipsis">streaming</span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
     </li>
   
 
@@ -1138,7 +1304,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1160,8 +1326,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1191,7 +1357,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1199,10 +1365,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1213,8 +1379,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1244,7 +1425,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1252,8 +1433,121 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1266,8 +1560,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
       </a>
     </li>
   
@@ -1281,8 +1575,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
       </a>
     </li>
   
@@ -1296,8 +1590,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
       </a>
     </li>
   
@@ -1311,8 +1605,53 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1335,35 +1674,41 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Multirate filtering</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1371,29 +1716,57 @@
               
   
   
+  
     
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
   
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1406,103 +1779,9 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-    
-  
-    
-  
-  
-    <li class="md-nav__item md-nav__item--active">
-      
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
-      
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
-      
-        
-
-<nav class="md-nav md-nav--secondary">
-  
-  
-    
-  
-  
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
-      
-        <li class="md-nav__item">
-  <a href="#parameters" class="md-nav__link">
-    <span class="md-ellipsis">Parameters</span>
-  </a>
-  
-    <nav class="md-nav" aria-label="Parameters">
-      <ul class="md-nav__list">
-        
-          <li class="md-nav__item">
-  <a href="#p-zeros" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.ZerosPoles.zeros (Python parameter) — The zeros of the transfer function." class="md-ellipsis">zeros</span>
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="#p-poles" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.ZerosPoles.poles (Python parameter) — The poles of the transfer function." class="md-ellipsis">poles</span>
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="#p-gain" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.ZerosPoles.gain (Python parameter) — The gain of the transfer function." class="md-ellipsis">gain</span>
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="#p-streaming" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.ZerosPoles.streaming (Python parameter) — Indicates whether to use streaming mode. In streaming mode, previous inputs and outputs are preserved between calls to __call__()." class="md-ellipsis">streaming</span>
-  </a>
-  
-</li>
-        
-      </ul>
-    </nav>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#examples" class="md-nav__link">
-    <span class="md-ellipsis">Examples</span>
-  </a>
-  
-</li>
-      
-    </ul>
-  
-</nav>
-      
     </li>
   
 
@@ -1525,22 +1804,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1553,8 +1832,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1578,24 +1857,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1606,8 +1885,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1621,26 +1900,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1649,15 +1921,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1666,8 +1953,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
@@ -1691,22 +1978,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1719,8 +2006,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1734,8 +2021,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
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@@ -1749,8 +2036,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
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@@ -1764,41 +2051,27 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
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     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1809,8 +2082,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
       </a>
     </li>
   
@@ -1825,22 +2098,6 @@
 
             
           
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-            <label for="__nav_3_1_2">
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-            <label for="__nav_3_1_2_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
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           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1918,14 +2175,14 @@
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-            <label for="__nav_3_1_2_1_1">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
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@@ -1971,14 +2228,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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@@ -2024,14 +2281,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -2077,14 +2334,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -2168,7 +2425,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2176,14 +2433,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.IIR.__call__/index.html b/v0.0.x/api/sdr.IIR.__call__/index.html
index 52bc81cf8..1d0947472 100644
--- a/v0.0.x/api/sdr.IIR.__call__/index.html
+++ b/v0.0.x/api/sdr.IIR.__call__/index.html
@@ -836,7 +836,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -844,8 +844,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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-            <label for="__nav_3_1_1_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
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@@ -1044,18 +1112,20 @@
               
   
   
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+  
   
     
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-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
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@@ -1063,10 +1133,10 @@
           
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-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
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           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
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@@ -1107,8 +1177,23 @@
   
   
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-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
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@@ -1127,18 +1212,20 @@
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
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@@ -1157,12 +1244,77 @@
               
   
   
+    
   
+    
   
-    <li class="md-nav__item">
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-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#parameters" class="md-nav__link">
+    <span class="md-ellipsis">Parameters</span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Parameters">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#p-x" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.__call__.x (Python parameter) — The input signal $x[n]$." class="md-ellipsis">x</span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#returns" class="md-nav__link">
+    <span class="md-ellipsis">Returns</span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
     </li>
   
 
@@ -1191,7 +1343,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1199,10 +1351,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1213,8 +1365,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1244,7 +1411,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1252,8 +1419,121 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1266,8 +1546,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
       </a>
     </li>
   
@@ -1281,8 +1561,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
       </a>
     </li>
   
@@ -1296,8 +1576,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
       </a>
     </li>
   
@@ -1311,8 +1591,53 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1335,35 +1660,71 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
   
+  
     
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
+          
+            <label for="__nav_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
   
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1376,22 +1737,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1404,23 +1765,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1439,29 +1785,27 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1471,77 +1815,12 @@
               
   
   
-    
-  
-    
   
   
-    <li class="md-nav__item md-nav__item--active">
-      
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
-      
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
-      
-        
-
-<nav class="md-nav md-nav--secondary">
-  
-  
-    
-  
-  
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
-      
-        <li class="md-nav__item">
-  <a href="#parameters" class="md-nav__link">
-    <span class="md-ellipsis">Parameters</span>
-  </a>
-  
-    <nav class="md-nav" aria-label="Parameters">
-      <ul class="md-nav__list">
-        
-          <li class="md-nav__item">
-  <a href="#p-x" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.__call__.x (Python parameter) — The input signal $x[n]$." class="md-ellipsis">x</span>
-  </a>
-  
-</li>
-        
-      </ul>
-    </nav>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#returns" class="md-nav__link">
-    <span class="md-ellipsis">Returns</span>
-  </a>
-  
-</li>
-      
-        <li class="md-nav__item">
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-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
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-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
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@@ -1592,8 +1871,8 @@
   
   
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+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1607,26 +1886,19 @@
   
   
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-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
+        </ul>
+      </nav>
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+  
 
             
           
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-  
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-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
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+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
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-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
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-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
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@@ -1705,8 +1992,8 @@
   
   
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-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1720,8 +2007,8 @@
   
   
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+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
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@@ -1735,8 +2022,8 @@
   
   
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-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
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@@ -1750,41 +2037,27 @@
   
   
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-      <a href="../sdr.IIR.order/" class="md-nav__link">
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+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
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-    <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-      </a>
+        </ul>
+      </nav>
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+  
 
             
           
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-              
-  
-  
-  
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-    <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
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-      </a>
+        </ul>
+      </nav>
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+  
 
             
           
@@ -1795,8 +2068,8 @@
   
   
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-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
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-            <label for="__nav_3_1_2">
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-            <label for="__nav_3_1_2_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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-            <label for="__nav_3_1_2_1_1">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
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+        <label class="md-nav__title" for="__nav_3_1_4">
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           <span class="md-ellipsis">Signal manipulation</span>
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-        <a href="../sdr.IIR.frequency_response/" class="md-footer__link md-footer__link--next" aria-label="Next: sdr.IIR.frequency_response" rel="next">
+        <a href="../sdr.IIR.__repr__/" class="md-footer__link md-footer__link--next" aria-label="Next: sdr.IIR.__repr__" rel="next">
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diff --git a/v0.0.x/api/sdr.IIR.__init__/index.html b/v0.0.x/api/sdr.IIR.__init__/index.html
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-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
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-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
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         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
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+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -943,7 +1011,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -951,14 +1019,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1044,18 +1112,20 @@
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1063,10 +1133,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1074,18 +1144,20 @@
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_1" type="checkbox" id="__nav_3_1_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_1" type="checkbox" id="__nav_3_1_1_2_1" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1104,11 +1176,98 @@
               
   
   
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#parameters" class="md-nav__link">
+    <span class="md-ellipsis">Parameters</span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Parameters">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#p-b" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.__init__.b (Python parameter) — The feedforward coefficients $b_i$." class="md-ellipsis">b</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-a" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.__init__.a (Python parameter) — The feedback coefficients $a_j$." class="md-ellipsis">a</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-streaming" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.__init__.streaming (Python parameter) — Indicates whether to use streaming mode. In streaming mode, previous inputs and outputs are preserved between calls to __call__()." class="md-ellipsis">streaming</span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1138,7 +1297,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1160,8 +1319,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1191,7 +1350,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1199,10 +1358,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1213,8 +1372,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1244,7 +1418,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1252,8 +1426,121 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1266,8 +1553,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
       </a>
     </li>
   
@@ -1281,8 +1568,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
       </a>
     </li>
   
@@ -1296,8 +1583,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
       </a>
     </li>
   
@@ -1311,14 +1598,67 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
       </a>
     </li>
   
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1339,31 +1679,29 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Multirate filtering</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1371,31 +1709,29 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1403,88 +1739,31 @@
               
   
   
-    
   
     
-  
-  
-    <li class="md-nav__item md-nav__item--active">
-      
+    <li class="md-nav__item md-nav__item--nested">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
       
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
       
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
       
-        
-
-<nav class="md-nav md-nav--secondary">
-  
-  
-    
-  
-  
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
       
-        <li class="md-nav__item">
-  <a href="#parameters" class="md-nav__link">
-    <span class="md-ellipsis">Parameters</span>
-  </a>
-  
-    <nav class="md-nav" aria-label="Parameters">
-      <ul class="md-nav__list">
-        
-          <li class="md-nav__item">
-  <a href="#p-b" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.__init__.b (Python parameter) — The feedforward coefficients $b_i$." class="md-ellipsis">b</span>
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="#p-a" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.__init__.a (Python parameter) — The feedback coefficients $a_j$." class="md-ellipsis">a</span>
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="#p-streaming" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.__init__.streaming (Python parameter) — Indicates whether to use streaming mode. In streaming mode, previous inputs and outputs are preserved between calls to __call__()." class="md-ellipsis">streaming</span>
-  </a>
-  
-</li>
         
-      </ul>
-    </nav>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#examples" class="md-nav__link">
-    <span class="md-ellipsis">Examples</span>
-  </a>
-  
-</li>
-      
-    </ul>
-  
-</nav>
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
       
-    </li>
-  
-
-            
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1493,8 +1772,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1518,22 +1797,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1546,8 +1825,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1571,24 +1850,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1599,8 +1878,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1614,26 +1893,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1642,15 +1914,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1659,8 +1946,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
@@ -1684,22 +1971,22 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1712,8 +1999,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1727,8 +2014,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1742,8 +2029,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1757,41 +2044,27 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1802,8 +2075,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
       </a>
     </li>
   
@@ -1818,22 +2091,6 @@
 
             
           
-        </ul>
-      </nav>
-    </li>
-  
-  
-
-            
-          
-        </ul>
-      </nav>
-    </li>
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@@ -1843,7 +2100,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
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-            <label for="__nav_3_1_3">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
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diff --git a/v0.0.x/api/sdr.IIR.__repr__/index.html b/v0.0.x/api/sdr.IIR.__repr__/index.html
new file mode 100644
index 000000000..3cdf58fa2
--- /dev/null
+++ b/v0.0.x/api/sdr.IIR.__repr__/index.html
@@ -0,0 +1,6619 @@
+
+
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+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_3" type="checkbox" id="__nav_3_1_1_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_1_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the FIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the FIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the FIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.step_response (Python method) — Returns the step response $s[n]$ of the FIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.delay/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.delay (Python property) — The delay of the FIR filter in samples." class="md-ellipsis">delay</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.order (Python property) — The order of the FIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.taps (Python property) — The feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          
+            <label for="__nav_3_1_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_1" type="checkbox" id="__nav_3_1_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_2" type="checkbox" id="__nav_3_1_1_2_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_1_2_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_3" type="checkbox" id="__nav_3_1_1_2_3" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_1_2_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
+          
+            <label for="__nav_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_2_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
+          
+            <label for="__nav_3_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Resampling" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Resampling</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
+          
+            <label for="__nav_3_1_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_3_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.__init__ (Python method) — Creates a new Farrow arbitrary resampler." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.__call__ (Python method) — Resamples the input signal $x[n]$ by the given arbitrary rate $r$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_3_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.reset (Python method) — Streaming-mode only: Resets the filter state and fractional sample index." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
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+  
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+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_3_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.order (Python property) — The order of the filter." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.taps (Python property) — The Farrow filter taps." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
+          
+            <label for="__nav_3_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Signal manipulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.mix/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.mix (Python function) — Mixes the time-domain signal $x[n]$ with a complex exponential." class="md-ellipsis">mix</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.to_complex_bb/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.to_complex_bb (Python function) — Converts the real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r}$ to a complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c} = f_{s,r}/2$." class="md-ellipsis">to_<wbr>complex_<wbr>bb</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.to_real_pb/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.to_real_pb (Python function) — Converts the complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c}$ to a real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r} = 2f_{s,c}$." class="md-ellipsis">to_<wbr>real_<wbr>pb</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_2" type="checkbox" id="__nav_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sequences/"><span class="md-ellipsis">Sequences</span></a>
+          
+            <label for="__nav_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Sequences" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Sequences</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.barker/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.barker (Python function) — Returns the Barker code/sequence of length $N$." class="md-ellipsis">barker</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.zadoff_chu/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.zadoff_chu (Python function) — Returns the root-$u$ Zadoff-Chu sequence of length $N$." class="md-ellipsis">zadoff_<wbr>chu</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3" type="checkbox" id="__nav_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/"><span class="md-ellipsis">Modulation</span></a>
+          
+            <label for="__nav_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Modulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Modulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1" type="checkbox" id="__nav_3_3_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#classes"><span class="md-ellipsis">Classes</span></a>
+          
+            <label for="__nav_3_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Classes" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Classes</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1" type="checkbox" id="__nav_3_3_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.PSK (Python class) — Implements phase-shift keying (PSK) modulation and demodulation." class="md-ellipsis">PSK</span></a>
+          
+            <label for="__nav_3_3_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="PSK" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_3_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.PSK (Python class) — Implements phase-shift keying (PSK) modulation and demodulation." class="md-ellipsis">PSK</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_1" type="checkbox" id="__nav_3_3_1_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_3_1_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.__init__ (Python method) — Creates a new PSK object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_2" type="checkbox" id="__nav_3_3_1_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_3_1_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.ber/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.ber (Python method) — Computes the bit error rate (BER) at the provided $E_b/N_0$ values." class="md-ellipsis">ber</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.demodulate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.demodulate (Python method) — Demodulates the complex symbols $hat{x}[k]$ to decimal symbols $hat{s}[k]$ using maximum-likelihood estimation." class="md-ellipsis">demodulate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.modulate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.modulate (Python method) — Modulates to decimal symbols $s[k]$ to complex symbols $x[k]$." class="md-ellipsis">modulate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.ser/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.ser (Python method) — Computes the symbol error rate (SER) at the provided $E_s/N_0$ values." class="md-ellipsis">ser</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_3" type="checkbox" id="__nav_3_3_1_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_3_1_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.bps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.bps (Python property) — The number of bits per symbol $k = log_2 M$." class="md-ellipsis">bps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.order (Python property) — The modulation order $M = 2^k$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.phase_offset/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.phase_offset (Python property) — The phase offset $phi$ in degrees." class="md-ellipsis">phase_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.symbol_map/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.symbol_map (Python property) — The symbol map ${0, dots, M-1} mapsto mathbb{C}$. This maps decimal symbols from $0$ to $M-1$ to complex symbols." class="md-ellipsis">symbol_<wbr>map</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_2" type="checkbox" id="__nav_3_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#pulse-shaping"><span class="md-ellipsis">Pulse shaping</span></a>
+          
+            <label for="__nav_3_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Pulse shaping" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Pulse shaping</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.gaussian/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.gaussian (Python function) — Returns a Gaussian pulse shape." class="md-ellipsis">gaussian</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.raised_cosine/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.raised_cosine (Python function) — Returns a raised cosine (RC) pulse shape." class="md-ellipsis">raised_<wbr>cosine</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.root_raised_cosine/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.root_raised_cosine (Python function) — Returns a square root raised cosine (SRRC) pulse shape." class="md-ellipsis">root_<wbr>raised_<wbr>cosine</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_3" type="checkbox" id="__nav_3_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#symbol-mapping"><span class="md-ellipsis">Symbol mapping</span></a>
+          
+            <label for="__nav_3_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Symbol mapping" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Symbol mapping</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.binary_code/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.binary_code (Python function) — Generates a binary code of length $2^n$." class="md-ellipsis">binary_<wbr>code</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.gray_code/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.gray_code (Python function) — Generates a Gray code of length $2^n$." class="md-ellipsis">gray_<wbr>code</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_4" type="checkbox" id="__nav_3_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#symbol-encoding"><span class="md-ellipsis">Symbol encoding</span></a>
+          
+            <label for="__nav_3_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Symbol encoding" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Symbol encoding</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.diff_decode/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.diff_decode (Python function) — Differentially decodes the input data $y[k]$." class="md-ellipsis">diff_<wbr>decode</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.diff_encode/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.diff_encode (Python function) — Differentially encodes the input data $x[k]$." class="md-ellipsis">diff_<wbr>encode</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4" type="checkbox" id="__nav_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../synchronization/"><span class="md-ellipsis">Synchronization</span></a>
+          
+            <label for="__nav_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Synchronization" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Synchronization</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1" type="checkbox" id="__nav_3_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ClosedLoopPLL (Python class) — A class that defines the performance of a closed-loop PLL." class="md-ellipsis">Closed<wbr>Loop<wbr>PLL</span></a>
+          
+            <label for="__nav_3_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="ClosedLoopPLL" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ClosedLoopPLL (Python class) — A class that defines the performance of a closed-loop PLL." class="md-ellipsis">Closed<wbr>Loop<wbr>PLL</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_1" type="checkbox" id="__nav_3_4_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.__init__ (Python method) — Creates a closed-loop PLL analysis object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_2" type="checkbox" id="__nav_3_4_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.frequency_lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.frequency_lock_time (Python method) — Returns the frequency lock time of the PLL." class="md-ellipsis">frequency_<wbr>lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.lock_time (Python method) — Returns the lock time of the PLL." class="md-ellipsis">lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.phase_error_variance/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.phase_error_variance (Python method) — Returns the variance of the phase error of the PLL in steady state." class="md-ellipsis">phase_<wbr>error_<wbr>variance</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.phase_lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.phase_lock_time (Python method) — Returns the phase lock time of the PLL." class="md-ellipsis">phase_<wbr>lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_3" type="checkbox" id="__nav_3_4_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.Bn/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.Bn (Python property) — The noise bandwidth $B_n$ of the PLL in Hz." class="md-ellipsis">Bn</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.BnT/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.BnT (Python property) — The normalized noise bandwidth $B_n T$ of the PLL." class="md-ellipsis">Bn<wbr>T</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.iir/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.iir (Python property) — The IIR filter that represents the closed-loop transfer function of the PLL." class="md-ellipsis">iir</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K0/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K0 (Python property) — The NCO gain $K_0$." class="md-ellipsis">K0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K1/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K1 (Python property) — The proportional gain $K_1$ of the loop filter." class="md-ellipsis">K1</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K2/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K2 (Python property) — The integral gain $K_2$ of the loop filter." class="md-ellipsis">K2</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.Kp/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.Kp (Python property) — The phase error detector (PED) gain $K_p$." class="md-ellipsis">Kp</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.omega_3dB/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.omega_3dB (Python property) — The 3-dB bandwidth $omega_{3textrm{dB}}$ of the PLL in radians/s." class="md-ellipsis">omega_<wbr>3d<wbr>B</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.omega_n/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.omega_n (Python property) — The natural frequency $omega_n$ of the PLL in radians/s." class="md-ellipsis">omega_<wbr>n</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.sample_rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.sample_rate (Python property) — The sample rate $f_s$ of the PLL in samples/s." class="md-ellipsis">sample_<wbr>rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.zeta/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.zeta (Python property) — The damping factor $zeta$ of the PLL." class="md-ellipsis">zeta</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2" type="checkbox" id="__nav_3_4_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.DDS (Python class) — Implements a direct digital synthesizer (DDS)." class="md-ellipsis">DDS</span></a>
+          
+            <label for="__nav_3_4_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="DDS" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.DDS (Python class) — Implements a direct digital synthesizer (DDS)." class="md-ellipsis">DDS</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_1" type="checkbox" id="__nav_3_4_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.__init__ (Python method) — Creates a direct digital synthesizer (DDS)." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_2" type="checkbox" id="__nav_3_4_2_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_4_2_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.__call__ (Python method) — Steps the DDS with the variable phase increment signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_3" type="checkbox" id="__nav_3_4_2_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_2_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.reset (Python method) — Resets the DDS." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.step/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.step (Python method) — Steps the DDS forward by $N$ samples." class="md-ellipsis">step</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_4" type="checkbox" id="__nav_3_4_2_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.nco/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.DDS.nco (Python property) — The numerically-controlled oscillator (NCO) used by the DDS." class="md-ellipsis">nco</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3" type="checkbox" id="__nav_3_4_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.LoopFilter (Python class) — Implements a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">Loop<wbr>Filter</span></a>
+          
+            <label for="__nav_3_4_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="LoopFilter" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.LoopFilter (Python class) — Implements a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">Loop<wbr>Filter</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_1" type="checkbox" id="__nav_3_4_3_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.__init__ (Python method) — Creates a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_2" type="checkbox" id="__nav_3_4_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_4_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.__call__ (Python method) — Filters the input signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_3" type="checkbox" id="__nav_3_4_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.reset (Python method) — Resets the loop filter." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_4" type="checkbox" id="__nav_3_4_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.damping_factor/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.damping_factor (Python property) — The damping factor $zeta$ of the loop filter. $zeta = 1$ is critically damped, $zeta &lt; 1$ is underdamped, and $zeta &gt; 1$ is overdamped." class="md-ellipsis">damping_<wbr>factor</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.iir/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.iir (Python property) — The underlying IIR filter used to implement the loop filter." class="md-ellipsis">iir</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.K1/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.K1 (Python property) — The proportional gain $K_1$ of the loop filter." class="md-ellipsis">K1</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.K2/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.K2 (Python property) — The integral gain $K_2$ of the loop filter." class="md-ellipsis">K2</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.noise_bandwidth/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.noise_bandwidth (Python property) — The normalized noise bandwidth $B_n T$ of the loop filter, where $B_n$ is the noise bandwidth in Hz and $T$ is the sampling period in seconds." class="md-ellipsis">noise_<wbr>bandwidth</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4" type="checkbox" id="__nav_3_4_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.NCO (Python class) — Implements a numerically-controlled oscillator (NCO)." class="md-ellipsis">NCO</span></a>
+          
+            <label for="__nav_3_4_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="NCO" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.NCO (Python class) — Implements a numerically-controlled oscillator (NCO)." class="md-ellipsis">NCO</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_1" type="checkbox" id="__nav_3_4_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.__init__ (Python method) — Creates a numerically-controlled oscillator (NCO)." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_2" type="checkbox" id="__nav_3_4_4_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_4_4_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.__call__ (Python method) — Steps the NCO with the variable-increment signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_3" type="checkbox" id="__nav_3_4_4_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_4_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.reset (Python method) — Resets the NCO." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.step/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.step (Python method) — Steps the NCO forward by $N$ samples." class="md-ellipsis">step</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_4" type="checkbox" id="__nav_3_4_4_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_4_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.increment/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.increment (Python property) — The constant accumulation $omega$ of the NCO in units/sample." class="md-ellipsis">increment</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.K0/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.K0 (Python property) — The NCO gain $K_0$." class="md-ellipsis">K0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.offset/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.offset (Python property) — The absolute offset $theta$ of the NCO in units." class="md-ellipsis">offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5" type="checkbox" id="__nav_3_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/"><span class="md-ellipsis">Measurement</span></a>
+          
+            <label for="__nav_3_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Measurement" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Measurement</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_1" type="checkbox" id="__nav_3_5_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#energy"><span class="md-ellipsis">Energy</span></a>
+          
+            <label for="__nav_3_5_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Energy" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Energy</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.energy/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.energy (Python function) — Measures the energy of a time-domain signal $x[n]$." class="md-ellipsis">energy</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_2" type="checkbox" id="__nav_3_5_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#power"><span class="md-ellipsis">Power</span></a>
+          
+            <label for="__nav_3_5_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Power" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Power</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.average_power/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.average_power (Python function) — Measures the average power of a time-domain signal $x[n]$." class="md-ellipsis">average_<wbr>power</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.papr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.papr (Python function) — Measures the peak-to-average power ratio (PAPR) of a time-domain signal $x[n]$." class="md-ellipsis">papr</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.peak_power/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.peak_power (Python function) — Measures the peak power of a time-domain signal $x[n]$." class="md-ellipsis">peak_<wbr>power</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_3" type="checkbox" id="__nav_3_5_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#voltage"><span class="md-ellipsis">Voltage</span></a>
+          
+            <label for="__nav_3_5_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Voltage" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Voltage</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.crest_factor/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.crest_factor (Python function) — Measures the crest factor of a time-domain signal $x[n]$." class="md-ellipsis">crest_<wbr>factor</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.peak_voltage/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.peak_voltage (Python function) — Measures the peak voltage of a time-domain signal $x[n]$." class="md-ellipsis">peak_<wbr>voltage</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.rms_voltage/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.rms_voltage (Python function) — Measures the root-mean-square (RMS) voltage of a time-domain signal $x[n]$." class="md-ellipsis">rms_<wbr>voltage</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4" type="checkbox" id="__nav_3_5_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#modulation"><span class="md-ellipsis">Modulation</span></a>
+          
+            <label for="__nav_3_5_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Modulation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Modulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1" type="checkbox" id="__nav_3_5_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ErrorRate (Python class) — A class for measuring bit error rates (BER) or symbol error rates (SER)." class="md-ellipsis">Error<wbr>Rate</span></a>
+          
+            <label for="__nav_3_5_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="ErrorRate" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_5_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ErrorRate (Python class) — A class for measuring bit error rates (BER) or symbol error rates (SER)." class="md-ellipsis">Error<wbr>Rate</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1_1" type="checkbox" id="__nav_3_5_4_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_5_4_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_5_4_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.__init__ (Python method) — Creates a new error rate tabulation object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1_2" type="checkbox" id="__nav_3_5_4_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_5_4_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_5_4_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.add/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.add (Python method) — Measures the number of bit or symbol errors at the given signal-to-noise ratio (SNR)." class="md-ellipsis">add</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.counts/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.counts (Python method) — Returns the number of counts at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">counts</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.error_rate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.error_rate (Python method) — Returns the error rate at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">error_<wbr>rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.error_rates/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.error_rates (Python method) — Returns all signal-to-noise ratios (SNRs) in ascending order and their corresponding error rates." class="md-ellipsis">error_<wbr>rates</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.errors/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.errors (Python method) — Returns the number of errors at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">errors</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.evm/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.evm (Python function) — Calculates the error-vector magnitude (EVM) of the complex symbols $hat{x}[k]$." class="md-ellipsis">evm</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6" type="checkbox" id="__nav_3_6" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/"><span class="md-ellipsis">Conversions</span></a>
+          
+            <label for="__nav_3_6">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Conversions" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_6">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Conversions</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_1" type="checkbox" id="__nav_3_6_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#decibels"><span class="md-ellipsis">Decibels</span></a>
+          
+            <label for="__nav_3_6_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Decibels" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Decibels</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.db/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.db (Python function) — Converts from linear units to decibels." class="md-ellipsis">db</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.linear/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.linear (Python function) — Converts from decibels to linear units." class="md-ellipsis">linear</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_2" type="checkbox" id="__nav_3_6_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-e-b-n-0"><span class="md-ellipsis">From E_<wbr>b/N_<wbr>0</span></a>
+          
+            <label for="__nav_3_6_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From E_b/N_0" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From E_<wbr>b/N_<wbr>0</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ebn0_to_esn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.ebn0_to_esn0 (Python function) — Converts from $E_b/N_0$ to $E_s/N_0$." class="md-ellipsis">ebn0_<wbr>to_<wbr>esn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ebn0_to_snr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.ebn0_to_snr (Python function) — Converts from $E_b/N_0$ to $S/N$." class="md-ellipsis">ebn0_<wbr>to_<wbr>snr</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_3" type="checkbox" id="__nav_3_6_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-e-s-n-0"><span class="md-ellipsis">From E_<wbr>s/N_<wbr>0</span></a>
+          
+            <label for="__nav_3_6_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From E_s/N_0" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From E_<wbr>s/N_<wbr>0</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.esn0_to_ebn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.esn0_to_ebn0 (Python function) — Converts from $E_s/N_0$ to $E_b/N_0$." class="md-ellipsis">esn0_<wbr>to_<wbr>ebn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.esn0_to_snr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.esn0_to_snr (Python function) — Converts from $E_s/N_0$ to $S/N$." class="md-ellipsis">esn0_<wbr>to_<wbr>snr</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_4" type="checkbox" id="__nav_3_6_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-s-n"><span class="md-ellipsis">From S/N</span></a>
+          
+            <label for="__nav_3_6_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From S/N" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From S/N</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.snr_to_ebn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.snr_to_ebn0 (Python function) — Converts from $S/N$ to $E_b/N_0$." class="md-ellipsis">snr_<wbr>to_<wbr>ebn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.snr_to_esn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.snr_to_esn0 (Python function) — Converts from $S/N$ to $E_s/N_0$." class="md-ellipsis">snr_<wbr>to_<wbr>esn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7" type="checkbox" id="__nav_3_7" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/"><span class="md-ellipsis">Simulation</span></a>
+          
+            <label for="__nav_3_7">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Simulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_7">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Simulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7_1" type="checkbox" id="__nav_3_7_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/#channel-models"><span class="md-ellipsis">Channel models</span></a>
+          
+            <label for="__nav_3_7_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Channel models" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_7_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Channel models</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bec/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bec (Python function) — Passes the binary input sequence $x$ through a binary erasure channel (BEC) with erasure probability $p$." class="md-ellipsis">bec</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bsc/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bsc (Python function) — Passes the binary input sequence $x$ through a binary symmetric channel (BSC) with transition probability $p$." class="md-ellipsis">bsc</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.dmc/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.dmc (Python function) — Passes the input sequence $x$ through a discrete memoryless channel (DMC) with transition probability matrix $P$." class="md-ellipsis">dmc</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7_2" type="checkbox" id="__nav_3_7_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/#signal-impairments"><span class="md-ellipsis">Signal impairments</span></a>
+          
+            <label for="__nav_3_7_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Signal impairments" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_7_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Signal impairments</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.awgn/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.awgn (Python function) — Adds additive white Gaussian noise (AWGN) to the time-domain signal $x[n]$." class="md-ellipsis">awgn</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.frequency_offset/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.frequency_offset (Python function) — Applies a frequency and phase offset to the time-domain signal $x[n]$." class="md-ellipsis">frequency_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.iq_imbalance/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.iq_imbalance (Python function) — Applies IQ imbalance to the complex time-domain signal $x[n]$." class="md-ellipsis">iq_<wbr>imbalance</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.sample_rate_offset/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.sample_rate_offset (Python function) — Applies a sample rate offset to the time-domain signal $x[n]$." class="md-ellipsis">sample_<wbr>rate_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8" type="checkbox" id="__nav_3_8" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/"><span class="md-ellipsis">Link budgets</span></a>
+          
+            <label for="__nav_3_8">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Link budgets" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_8">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Link budgets</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_1" type="checkbox" id="__nav_3_8_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#channel-capacity"><span class="md-ellipsis">Channel capacity</span></a>
+          
+            <label for="__nav_3_8_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Channel capacity" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Channel capacity</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.awgn_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.awgn_capacity (Python function) — Calculates the capacity of an additive white Gaussian noise (AWGN) channel." class="md-ellipsis">awgn_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bec_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bec_capacity (Python function) — Calculates the capacity of a binary erasure channel (BEC)." class="md-ellipsis">bec_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bsc_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bsc_capacity (Python function) — Calculates the capacity of a binary symmetric channel (BSC)." class="md-ellipsis">bsc_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_2" type="checkbox" id="__nav_3_8_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#path-losses"><span class="md-ellipsis">Path losses</span></a>
+          
+            <label for="__nav_3_8_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Path losses" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Path losses</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.fspl/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.fspl (Python function) — Calculates the free-space path loss (FSPL) in dB." class="md-ellipsis">fspl</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_3" type="checkbox" id="__nav_3_8_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#antennas"><span class="md-ellipsis">Antennas</span></a>
+          
+            <label for="__nav_3_8_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Antennas" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Antennas</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.parabolic_antenna/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.parabolic_antenna (Python function) — Calculates the gain $G$ and beamwidth $theta$ of a parabolic reflector." class="md-ellipsis">parabolic_<wbr>antenna</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_9" type="checkbox" id="__nav_3_9" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../probability/"><span class="md-ellipsis">Probability</span></a>
+          
+            <label for="__nav_3_9">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Probability" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_9">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Probability</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.Q/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.Q (Python function) — Computes the complementary cumulative distribution function $Q(x)$ of the standard normal distribution $mathcal{N}(0, 1)$." class="md-ellipsis">Q</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.Qinv/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.Qinv (Python function) — Computes the inverse complementary cumulative distribution function $Q^{-1}(p)$ of the standard normal distribution $mathcal{N}(0, 1)$." class="md-ellipsis">Qinv</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_10" type="checkbox" id="__nav_3_10" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../data-manipulation/"><span class="md-ellipsis">Data manipulation</span></a>
+          
+            <label for="__nav_3_10">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Data manipulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_10">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Data manipulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.hexdump/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.hexdump (Python function) — Returns a hexdump of the specified data." class="md-ellipsis">hexdump</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.pack/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.pack (Python function) — Packs a binary array into an array with multiple bits per element." class="md-ellipsis">pack</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.unpack/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.unpack (Python function) — Unpacks an array with multiple bits per element into a binary array." class="md-ellipsis">unpack</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11" type="checkbox" id="__nav_3_11" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/"><span class="md-ellipsis">Plotting</span></a>
+          
+            <label for="__nav_3_11">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Plotting" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_11">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Plotting</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_1" type="checkbox" id="__nav_3_11_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#configuration"><span class="md-ellipsis">Configuration</span></a>
+          
+            <label for="__nav_3_11_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Configuration" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Configuration</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
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+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.use_style/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.use_style (Python function) — Applies sdr&#39;s default matplotlib rcParams." class="md-ellipsis">use_<wbr>style</span>
+      </a>
+    </li>
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+    <li class="md-nav__item">
+      <a href="../sdr.plot.time_domain/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.time_domain (Python function) — Plots a time-domain signal $x[n]$." class="md-ellipsis">time_<wbr>domain</span>
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+        <label class="md-nav__title" for="__nav_3_11_3">
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+  
+  
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+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.periodogram/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.periodogram (Python function) — Plots the estimated power spectral density $P_{xx}$ of a time-domain signal $x[n]$ using Welch&#39;s method." class="md-ellipsis">periodogram</span>
+      </a>
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+    <li class="md-nav__item">
+      <a href="../sdr.plot.spectrogram/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.spectrogram (Python function) — Plots the spectrogram of a time-domain signal $x[n]$ using Welch&#39;s method." class="md-ellipsis">spectrogram</span>
+      </a>
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.ber/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.ber (Python function) — Plots the bit error rate (BER) as a function of $E_b/N_0$." class="md-ellipsis">ber</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.constellation/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.constellation (Python function) — Plots the constellation of the complex symbols $hat{x}[k]$." class="md-ellipsis">constellation</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.ser/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.ser (Python function) — Plots the symbol error rate (SER) as a function of $E_s/N_0$." class="md-ellipsis">ser</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.symbol_map/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.symbol_map (Python function) — Plots the symbol map of the complex symbols $hat{x}[k]$." class="md-ellipsis">symbol_<wbr>map</span>
+      </a>
+    </li>
+  
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+          
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+        <label class="md-nav__title" for="__nav_3_11_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Filter analysis</span>
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+          
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+              
+  
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+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.filter/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.filter (Python function) — Plots the frequency response $H(omega)$, impulse response $h[n]$, step response $s[n]$, and zeros and poles of the filter." class="md-ellipsis">filter</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.frequency_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.frequency_response (Python function) — Plots the frequency response $H(omega)$ of the filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.group_delay/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.group_delay (Python function) — Plots the group delay $tau_g(omega)$ of the IIR filter." class="md-ellipsis">group_<wbr>delay</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.impulse_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.impulse_response (Python function) — Plots the impulse response $h[n]$ of a filter." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.phase_delay/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.phase_delay (Python function) — Plots the phase delay $tau_{phi}(omega)$ of the filter." class="md-ellipsis">phase_<wbr>delay</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.phase_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.phase_response (Python function) — Plots the phase response $Theta(omega)$ of the filter." class="md-ellipsis">phase_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.step_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.step_response (Python function) — Plots the step response $s[n]$ of a filter." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.zeros_poles/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.zeros_poles (Python function) — Plots the zeros and poles of the filter." class="md-ellipsis">zeros_<wbr>poles</span>
+      </a>
+    </li>
+  
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+                  
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+
+<dl class="py method objdesc">
+<dt class="sig sig-object highlight py">
+<span class="sig-prename descclassname"><span class="pre">sdr.</span><span class="pre">IIR.</span></span><span class="sig-name descname"><span class="pre">__repr__</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.11)"><span class="pre">str</span></a></span></span></span></dt>
+<dd><p>Returns a code-styled string representation of the object.</p>
+<p class="example rubric" id="examples">Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></p>
+<div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [1]: </span><span class="n">zero</span> <span class="o">=</span> <span class="mf">0.6</span>
+
+<span class="gp">In [2]: </span><span class="n">pole</span> <span class="o">=</span> <span class="mf">0.8</span> <span class="o">*</span> <span class="n">np</span><span class="o">.</span><span class="n">exp</span><span class="p">(</span><span class="mi">1</span><span class="n">j</span> <span class="o">*</span> <span class="n">np</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">8</span><span class="p">)</span>
+
+<span class="gp">In [3]: </span><span class="n">iir</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">IIR</span><span class="o">.</span><span class="n">ZerosPoles</span><span class="p">([</span><span class="n">zero</span><span class="p">],</span> <span class="p">[</span><span class="n">pole</span><span class="p">,</span> <span class="n">pole</span><span class="o">.</span><span class="n">conj</span><span class="p">()])</span>
+
+<span class="gp">In [4]: </span><span class="n">iir</span>
+<span class="gh">Out[4]: </span><span class="go">sdr.IIR([1.0, -0.6], [1.0, -1.478207252018059, 0.6400000000000001], streaming=False)</span>
+</code></pre></div>
+</div>
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diff --git a/v0.0.x/api/sdr.IIR.__str__/index.html b/v0.0.x/api/sdr.IIR.__str__/index.html
new file mode 100644
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+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_3" type="checkbox" id="__nav_3_1_1_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_1_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the FIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the FIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the FIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.step_response (Python method) — Returns the step response $s[n]$ of the FIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.delay/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.delay (Python property) — The delay of the FIR filter in samples." class="md-ellipsis">delay</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.order (Python property) — The order of the FIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.taps (Python property) — The feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          
+            <label for="__nav_3_1_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_1" type="checkbox" id="__nav_3_1_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_2" type="checkbox" id="__nav_3_1_1_2_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_1_2_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_3" type="checkbox" id="__nav_3_1_1_2_3" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_1_2_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
+          
+            <label for="__nav_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_2_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
+          
+            <label for="__nav_3_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Resampling" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Resampling</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
+          
+            <label for="__nav_3_1_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_3_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.__init__ (Python method) — Creates a new Farrow arbitrary resampler." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.__call__ (Python method) — Resamples the input signal $x[n]$ by the given arbitrary rate $r$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_3_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.reset (Python method) — Streaming-mode only: Resets the filter state and fractional sample index." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
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+  
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+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_3_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.order (Python property) — The order of the filter." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.taps (Python property) — The Farrow filter taps." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
+          
+            <label for="__nav_3_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Signal manipulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.mix/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.mix (Python function) — Mixes the time-domain signal $x[n]$ with a complex exponential." class="md-ellipsis">mix</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.to_complex_bb/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.to_complex_bb (Python function) — Converts the real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r}$ to a complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c} = f_{s,r}/2$." class="md-ellipsis">to_<wbr>complex_<wbr>bb</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.to_real_pb/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.to_real_pb (Python function) — Converts the complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c}$ to a real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r} = 2f_{s,c}$." class="md-ellipsis">to_<wbr>real_<wbr>pb</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_2" type="checkbox" id="__nav_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sequences/"><span class="md-ellipsis">Sequences</span></a>
+          
+            <label for="__nav_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Sequences" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Sequences</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.barker/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.barker (Python function) — Returns the Barker code/sequence of length $N$." class="md-ellipsis">barker</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.zadoff_chu/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.zadoff_chu (Python function) — Returns the root-$u$ Zadoff-Chu sequence of length $N$." class="md-ellipsis">zadoff_<wbr>chu</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3" type="checkbox" id="__nav_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/"><span class="md-ellipsis">Modulation</span></a>
+          
+            <label for="__nav_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Modulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Modulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1" type="checkbox" id="__nav_3_3_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#classes"><span class="md-ellipsis">Classes</span></a>
+          
+            <label for="__nav_3_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Classes" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Classes</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1" type="checkbox" id="__nav_3_3_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.PSK (Python class) — Implements phase-shift keying (PSK) modulation and demodulation." class="md-ellipsis">PSK</span></a>
+          
+            <label for="__nav_3_3_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="PSK" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_3_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.PSK (Python class) — Implements phase-shift keying (PSK) modulation and demodulation." class="md-ellipsis">PSK</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_1" type="checkbox" id="__nav_3_3_1_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_3_1_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.__init__ (Python method) — Creates a new PSK object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_2" type="checkbox" id="__nav_3_3_1_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_3_1_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.ber/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.ber (Python method) — Computes the bit error rate (BER) at the provided $E_b/N_0$ values." class="md-ellipsis">ber</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.demodulate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.demodulate (Python method) — Demodulates the complex symbols $hat{x}[k]$ to decimal symbols $hat{s}[k]$ using maximum-likelihood estimation." class="md-ellipsis">demodulate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.modulate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.modulate (Python method) — Modulates to decimal symbols $s[k]$ to complex symbols $x[k]$." class="md-ellipsis">modulate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.ser/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.ser (Python method) — Computes the symbol error rate (SER) at the provided $E_s/N_0$ values." class="md-ellipsis">ser</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_3" type="checkbox" id="__nav_3_3_1_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_3_1_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.bps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.bps (Python property) — The number of bits per symbol $k = log_2 M$." class="md-ellipsis">bps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.order (Python property) — The modulation order $M = 2^k$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.phase_offset/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.phase_offset (Python property) — The phase offset $phi$ in degrees." class="md-ellipsis">phase_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.symbol_map/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.symbol_map (Python property) — The symbol map ${0, dots, M-1} mapsto mathbb{C}$. This maps decimal symbols from $0$ to $M-1$ to complex symbols." class="md-ellipsis">symbol_<wbr>map</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_2" type="checkbox" id="__nav_3_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#pulse-shaping"><span class="md-ellipsis">Pulse shaping</span></a>
+          
+            <label for="__nav_3_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Pulse shaping" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Pulse shaping</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.gaussian/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.gaussian (Python function) — Returns a Gaussian pulse shape." class="md-ellipsis">gaussian</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.raised_cosine/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.raised_cosine (Python function) — Returns a raised cosine (RC) pulse shape." class="md-ellipsis">raised_<wbr>cosine</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.root_raised_cosine/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.root_raised_cosine (Python function) — Returns a square root raised cosine (SRRC) pulse shape." class="md-ellipsis">root_<wbr>raised_<wbr>cosine</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_3" type="checkbox" id="__nav_3_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#symbol-mapping"><span class="md-ellipsis">Symbol mapping</span></a>
+          
+            <label for="__nav_3_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Symbol mapping" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Symbol mapping</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.binary_code/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.binary_code (Python function) — Generates a binary code of length $2^n$." class="md-ellipsis">binary_<wbr>code</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.gray_code/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.gray_code (Python function) — Generates a Gray code of length $2^n$." class="md-ellipsis">gray_<wbr>code</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_4" type="checkbox" id="__nav_3_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#symbol-encoding"><span class="md-ellipsis">Symbol encoding</span></a>
+          
+            <label for="__nav_3_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Symbol encoding" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Symbol encoding</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.diff_decode/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.diff_decode (Python function) — Differentially decodes the input data $y[k]$." class="md-ellipsis">diff_<wbr>decode</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.diff_encode/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.diff_encode (Python function) — Differentially encodes the input data $x[k]$." class="md-ellipsis">diff_<wbr>encode</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4" type="checkbox" id="__nav_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../synchronization/"><span class="md-ellipsis">Synchronization</span></a>
+          
+            <label for="__nav_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Synchronization" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Synchronization</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1" type="checkbox" id="__nav_3_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ClosedLoopPLL (Python class) — A class that defines the performance of a closed-loop PLL." class="md-ellipsis">Closed<wbr>Loop<wbr>PLL</span></a>
+          
+            <label for="__nav_3_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="ClosedLoopPLL" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ClosedLoopPLL (Python class) — A class that defines the performance of a closed-loop PLL." class="md-ellipsis">Closed<wbr>Loop<wbr>PLL</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_1" type="checkbox" id="__nav_3_4_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.__init__ (Python method) — Creates a closed-loop PLL analysis object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_2" type="checkbox" id="__nav_3_4_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.frequency_lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.frequency_lock_time (Python method) — Returns the frequency lock time of the PLL." class="md-ellipsis">frequency_<wbr>lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.lock_time (Python method) — Returns the lock time of the PLL." class="md-ellipsis">lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.phase_error_variance/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.phase_error_variance (Python method) — Returns the variance of the phase error of the PLL in steady state." class="md-ellipsis">phase_<wbr>error_<wbr>variance</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.phase_lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.phase_lock_time (Python method) — Returns the phase lock time of the PLL." class="md-ellipsis">phase_<wbr>lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_3" type="checkbox" id="__nav_3_4_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.Bn/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.Bn (Python property) — The noise bandwidth $B_n$ of the PLL in Hz." class="md-ellipsis">Bn</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.BnT/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.BnT (Python property) — The normalized noise bandwidth $B_n T$ of the PLL." class="md-ellipsis">Bn<wbr>T</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.iir/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.iir (Python property) — The IIR filter that represents the closed-loop transfer function of the PLL." class="md-ellipsis">iir</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K0/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K0 (Python property) — The NCO gain $K_0$." class="md-ellipsis">K0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K1/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K1 (Python property) — The proportional gain $K_1$ of the loop filter." class="md-ellipsis">K1</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K2/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K2 (Python property) — The integral gain $K_2$ of the loop filter." class="md-ellipsis">K2</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.Kp/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.Kp (Python property) — The phase error detector (PED) gain $K_p$." class="md-ellipsis">Kp</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.omega_3dB/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.omega_3dB (Python property) — The 3-dB bandwidth $omega_{3textrm{dB}}$ of the PLL in radians/s." class="md-ellipsis">omega_<wbr>3d<wbr>B</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.omega_n/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.omega_n (Python property) — The natural frequency $omega_n$ of the PLL in radians/s." class="md-ellipsis">omega_<wbr>n</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.sample_rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.sample_rate (Python property) — The sample rate $f_s$ of the PLL in samples/s." class="md-ellipsis">sample_<wbr>rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.zeta/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.zeta (Python property) — The damping factor $zeta$ of the PLL." class="md-ellipsis">zeta</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2" type="checkbox" id="__nav_3_4_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.DDS (Python class) — Implements a direct digital synthesizer (DDS)." class="md-ellipsis">DDS</span></a>
+          
+            <label for="__nav_3_4_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="DDS" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.DDS (Python class) — Implements a direct digital synthesizer (DDS)." class="md-ellipsis">DDS</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_1" type="checkbox" id="__nav_3_4_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.__init__ (Python method) — Creates a direct digital synthesizer (DDS)." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_2" type="checkbox" id="__nav_3_4_2_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_4_2_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.__call__ (Python method) — Steps the DDS with the variable phase increment signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_3" type="checkbox" id="__nav_3_4_2_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_2_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.reset (Python method) — Resets the DDS." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.step/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.step (Python method) — Steps the DDS forward by $N$ samples." class="md-ellipsis">step</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_4" type="checkbox" id="__nav_3_4_2_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.nco/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.DDS.nco (Python property) — The numerically-controlled oscillator (NCO) used by the DDS." class="md-ellipsis">nco</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3" type="checkbox" id="__nav_3_4_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.LoopFilter (Python class) — Implements a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">Loop<wbr>Filter</span></a>
+          
+            <label for="__nav_3_4_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="LoopFilter" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.LoopFilter (Python class) — Implements a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">Loop<wbr>Filter</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_1" type="checkbox" id="__nav_3_4_3_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.__init__ (Python method) — Creates a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_2" type="checkbox" id="__nav_3_4_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_4_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.__call__ (Python method) — Filters the input signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_3" type="checkbox" id="__nav_3_4_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.reset (Python method) — Resets the loop filter." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_4" type="checkbox" id="__nav_3_4_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.damping_factor/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.damping_factor (Python property) — The damping factor $zeta$ of the loop filter. $zeta = 1$ is critically damped, $zeta &lt; 1$ is underdamped, and $zeta &gt; 1$ is overdamped." class="md-ellipsis">damping_<wbr>factor</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.iir/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.iir (Python property) — The underlying IIR filter used to implement the loop filter." class="md-ellipsis">iir</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.K1/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.K1 (Python property) — The proportional gain $K_1$ of the loop filter." class="md-ellipsis">K1</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.K2/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.K2 (Python property) — The integral gain $K_2$ of the loop filter." class="md-ellipsis">K2</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.noise_bandwidth/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.noise_bandwidth (Python property) — The normalized noise bandwidth $B_n T$ of the loop filter, where $B_n$ is the noise bandwidth in Hz and $T$ is the sampling period in seconds." class="md-ellipsis">noise_<wbr>bandwidth</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4" type="checkbox" id="__nav_3_4_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.NCO (Python class) — Implements a numerically-controlled oscillator (NCO)." class="md-ellipsis">NCO</span></a>
+          
+            <label for="__nav_3_4_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="NCO" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.NCO (Python class) — Implements a numerically-controlled oscillator (NCO)." class="md-ellipsis">NCO</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_1" type="checkbox" id="__nav_3_4_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.__init__ (Python method) — Creates a numerically-controlled oscillator (NCO)." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_2" type="checkbox" id="__nav_3_4_4_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_4_4_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.__call__ (Python method) — Steps the NCO with the variable-increment signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_3" type="checkbox" id="__nav_3_4_4_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_4_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.reset (Python method) — Resets the NCO." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.step/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.step (Python method) — Steps the NCO forward by $N$ samples." class="md-ellipsis">step</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_4" type="checkbox" id="__nav_3_4_4_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_4_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.increment/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.increment (Python property) — The constant accumulation $omega$ of the NCO in units/sample." class="md-ellipsis">increment</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.K0/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.K0 (Python property) — The NCO gain $K_0$." class="md-ellipsis">K0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.offset/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.offset (Python property) — The absolute offset $theta$ of the NCO in units." class="md-ellipsis">offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5" type="checkbox" id="__nav_3_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/"><span class="md-ellipsis">Measurement</span></a>
+          
+            <label for="__nav_3_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Measurement" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Measurement</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_1" type="checkbox" id="__nav_3_5_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#energy"><span class="md-ellipsis">Energy</span></a>
+          
+            <label for="__nav_3_5_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Energy" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Energy</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.energy/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.energy (Python function) — Measures the energy of a time-domain signal $x[n]$." class="md-ellipsis">energy</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_2" type="checkbox" id="__nav_3_5_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#power"><span class="md-ellipsis">Power</span></a>
+          
+            <label for="__nav_3_5_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Power" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Power</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.average_power/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.average_power (Python function) — Measures the average power of a time-domain signal $x[n]$." class="md-ellipsis">average_<wbr>power</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.papr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.papr (Python function) — Measures the peak-to-average power ratio (PAPR) of a time-domain signal $x[n]$." class="md-ellipsis">papr</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.peak_power/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.peak_power (Python function) — Measures the peak power of a time-domain signal $x[n]$." class="md-ellipsis">peak_<wbr>power</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_3" type="checkbox" id="__nav_3_5_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#voltage"><span class="md-ellipsis">Voltage</span></a>
+          
+            <label for="__nav_3_5_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Voltage" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Voltage</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.crest_factor/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.crest_factor (Python function) — Measures the crest factor of a time-domain signal $x[n]$." class="md-ellipsis">crest_<wbr>factor</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.peak_voltage/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.peak_voltage (Python function) — Measures the peak voltage of a time-domain signal $x[n]$." class="md-ellipsis">peak_<wbr>voltage</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.rms_voltage/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.rms_voltage (Python function) — Measures the root-mean-square (RMS) voltage of a time-domain signal $x[n]$." class="md-ellipsis">rms_<wbr>voltage</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4" type="checkbox" id="__nav_3_5_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#modulation"><span class="md-ellipsis">Modulation</span></a>
+          
+            <label for="__nav_3_5_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Modulation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Modulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1" type="checkbox" id="__nav_3_5_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ErrorRate (Python class) — A class for measuring bit error rates (BER) or symbol error rates (SER)." class="md-ellipsis">Error<wbr>Rate</span></a>
+          
+            <label for="__nav_3_5_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="ErrorRate" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_5_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ErrorRate (Python class) — A class for measuring bit error rates (BER) or symbol error rates (SER)." class="md-ellipsis">Error<wbr>Rate</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1_1" type="checkbox" id="__nav_3_5_4_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_5_4_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_5_4_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.__init__ (Python method) — Creates a new error rate tabulation object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1_2" type="checkbox" id="__nav_3_5_4_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_5_4_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_5_4_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.add/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.add (Python method) — Measures the number of bit or symbol errors at the given signal-to-noise ratio (SNR)." class="md-ellipsis">add</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.counts/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.counts (Python method) — Returns the number of counts at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">counts</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.error_rate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.error_rate (Python method) — Returns the error rate at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">error_<wbr>rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.error_rates/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.error_rates (Python method) — Returns all signal-to-noise ratios (SNRs) in ascending order and their corresponding error rates." class="md-ellipsis">error_<wbr>rates</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.errors/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.errors (Python method) — Returns the number of errors at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">errors</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.evm/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.evm (Python function) — Calculates the error-vector magnitude (EVM) of the complex symbols $hat{x}[k]$." class="md-ellipsis">evm</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6" type="checkbox" id="__nav_3_6" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/"><span class="md-ellipsis">Conversions</span></a>
+          
+            <label for="__nav_3_6">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Conversions" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_6">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Conversions</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_1" type="checkbox" id="__nav_3_6_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#decibels"><span class="md-ellipsis">Decibels</span></a>
+          
+            <label for="__nav_3_6_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Decibels" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Decibels</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.db/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.db (Python function) — Converts from linear units to decibels." class="md-ellipsis">db</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.linear/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.linear (Python function) — Converts from decibels to linear units." class="md-ellipsis">linear</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_2" type="checkbox" id="__nav_3_6_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-e-b-n-0"><span class="md-ellipsis">From E_<wbr>b/N_<wbr>0</span></a>
+          
+            <label for="__nav_3_6_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From E_b/N_0" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From E_<wbr>b/N_<wbr>0</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ebn0_to_esn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.ebn0_to_esn0 (Python function) — Converts from $E_b/N_0$ to $E_s/N_0$." class="md-ellipsis">ebn0_<wbr>to_<wbr>esn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ebn0_to_snr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.ebn0_to_snr (Python function) — Converts from $E_b/N_0$ to $S/N$." class="md-ellipsis">ebn0_<wbr>to_<wbr>snr</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_3" type="checkbox" id="__nav_3_6_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-e-s-n-0"><span class="md-ellipsis">From E_<wbr>s/N_<wbr>0</span></a>
+          
+            <label for="__nav_3_6_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From E_s/N_0" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From E_<wbr>s/N_<wbr>0</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.esn0_to_ebn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.esn0_to_ebn0 (Python function) — Converts from $E_s/N_0$ to $E_b/N_0$." class="md-ellipsis">esn0_<wbr>to_<wbr>ebn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.esn0_to_snr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.esn0_to_snr (Python function) — Converts from $E_s/N_0$ to $S/N$." class="md-ellipsis">esn0_<wbr>to_<wbr>snr</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_4" type="checkbox" id="__nav_3_6_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-s-n"><span class="md-ellipsis">From S/N</span></a>
+          
+            <label for="__nav_3_6_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From S/N" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From S/N</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.snr_to_ebn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.snr_to_ebn0 (Python function) — Converts from $S/N$ to $E_b/N_0$." class="md-ellipsis">snr_<wbr>to_<wbr>ebn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.snr_to_esn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.snr_to_esn0 (Python function) — Converts from $S/N$ to $E_s/N_0$." class="md-ellipsis">snr_<wbr>to_<wbr>esn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7" type="checkbox" id="__nav_3_7" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/"><span class="md-ellipsis">Simulation</span></a>
+          
+            <label for="__nav_3_7">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Simulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_7">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Simulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7_1" type="checkbox" id="__nav_3_7_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/#channel-models"><span class="md-ellipsis">Channel models</span></a>
+          
+            <label for="__nav_3_7_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Channel models" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_7_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Channel models</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bec/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bec (Python function) — Passes the binary input sequence $x$ through a binary erasure channel (BEC) with erasure probability $p$." class="md-ellipsis">bec</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bsc/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bsc (Python function) — Passes the binary input sequence $x$ through a binary symmetric channel (BSC) with transition probability $p$." class="md-ellipsis">bsc</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.dmc/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.dmc (Python function) — Passes the input sequence $x$ through a discrete memoryless channel (DMC) with transition probability matrix $P$." class="md-ellipsis">dmc</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7_2" type="checkbox" id="__nav_3_7_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/#signal-impairments"><span class="md-ellipsis">Signal impairments</span></a>
+          
+            <label for="__nav_3_7_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Signal impairments" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_7_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Signal impairments</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.awgn/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.awgn (Python function) — Adds additive white Gaussian noise (AWGN) to the time-domain signal $x[n]$." class="md-ellipsis">awgn</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.frequency_offset/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.frequency_offset (Python function) — Applies a frequency and phase offset to the time-domain signal $x[n]$." class="md-ellipsis">frequency_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.iq_imbalance/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.iq_imbalance (Python function) — Applies IQ imbalance to the complex time-domain signal $x[n]$." class="md-ellipsis">iq_<wbr>imbalance</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.sample_rate_offset/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.sample_rate_offset (Python function) — Applies a sample rate offset to the time-domain signal $x[n]$." class="md-ellipsis">sample_<wbr>rate_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8" type="checkbox" id="__nav_3_8" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/"><span class="md-ellipsis">Link budgets</span></a>
+          
+            <label for="__nav_3_8">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Link budgets" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_8">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Link budgets</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_1" type="checkbox" id="__nav_3_8_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#channel-capacity"><span class="md-ellipsis">Channel capacity</span></a>
+          
+            <label for="__nav_3_8_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Channel capacity" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Channel capacity</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.awgn_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.awgn_capacity (Python function) — Calculates the capacity of an additive white Gaussian noise (AWGN) channel." class="md-ellipsis">awgn_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bec_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bec_capacity (Python function) — Calculates the capacity of a binary erasure channel (BEC)." class="md-ellipsis">bec_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bsc_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bsc_capacity (Python function) — Calculates the capacity of a binary symmetric channel (BSC)." class="md-ellipsis">bsc_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_2" type="checkbox" id="__nav_3_8_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#path-losses"><span class="md-ellipsis">Path losses</span></a>
+          
+            <label for="__nav_3_8_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Path losses" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Path losses</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.fspl/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.fspl (Python function) — Calculates the free-space path loss (FSPL) in dB." class="md-ellipsis">fspl</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_3" type="checkbox" id="__nav_3_8_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#antennas"><span class="md-ellipsis">Antennas</span></a>
+          
+            <label for="__nav_3_8_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Antennas" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Antennas</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.parabolic_antenna/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.parabolic_antenna (Python function) — Calculates the gain $G$ and beamwidth $theta$ of a parabolic reflector." class="md-ellipsis">parabolic_<wbr>antenna</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_9" type="checkbox" id="__nav_3_9" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../probability/"><span class="md-ellipsis">Probability</span></a>
+          
+            <label for="__nav_3_9">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Probability" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_9">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Probability</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.Q/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.Q (Python function) — Computes the complementary cumulative distribution function $Q(x)$ of the standard normal distribution $mathcal{N}(0, 1)$." class="md-ellipsis">Q</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.Qinv/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.Qinv (Python function) — Computes the inverse complementary cumulative distribution function $Q^{-1}(p)$ of the standard normal distribution $mathcal{N}(0, 1)$." class="md-ellipsis">Qinv</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_10" type="checkbox" id="__nav_3_10" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../data-manipulation/"><span class="md-ellipsis">Data manipulation</span></a>
+          
+            <label for="__nav_3_10">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Data manipulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_10">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Data manipulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.hexdump/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.hexdump (Python function) — Returns a hexdump of the specified data." class="md-ellipsis">hexdump</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.pack/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.pack (Python function) — Packs a binary array into an array with multiple bits per element." class="md-ellipsis">pack</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.unpack/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.unpack (Python function) — Unpacks an array with multiple bits per element into a binary array." class="md-ellipsis">unpack</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11" type="checkbox" id="__nav_3_11" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/"><span class="md-ellipsis">Plotting</span></a>
+          
+            <label for="__nav_3_11">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Plotting" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_11">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Plotting</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_1" type="checkbox" id="__nav_3_11_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#configuration"><span class="md-ellipsis">Configuration</span></a>
+          
+            <label for="__nav_3_11_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Configuration" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Configuration</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.use_style/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.use_style (Python function) — Applies sdr&#39;s default matplotlib rcParams." class="md-ellipsis">use_<wbr>style</span>
+      </a>
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+      <a href="../sdr.plot.time_domain/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.time_domain (Python function) — Plots a time-domain signal $x[n]$." class="md-ellipsis">time_<wbr>domain</span>
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+    <li class="md-nav__item">
+      <a href="../sdr.plot.periodogram/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.periodogram (Python function) — Plots the estimated power spectral density $P_{xx}$ of a time-domain signal $x[n]$ using Welch&#39;s method." class="md-ellipsis">periodogram</span>
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+      <a href="../sdr.plot.spectrogram/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.spectrogram (Python function) — Plots the spectrogram of a time-domain signal $x[n]$ using Welch&#39;s method." class="md-ellipsis">spectrogram</span>
+      </a>
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+        <label class="md-nav__title" for="__nav_3_11_4">
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+  
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+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.ber/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.ber (Python function) — Plots the bit error rate (BER) as a function of $E_b/N_0$." class="md-ellipsis">ber</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.constellation/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.constellation (Python function) — Plots the constellation of the complex symbols $hat{x}[k]$." class="md-ellipsis">constellation</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.ser/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.ser (Python function) — Plots the symbol error rate (SER) as a function of $E_s/N_0$." class="md-ellipsis">ser</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.symbol_map/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.symbol_map (Python function) — Plots the symbol map of the complex symbols $hat{x}[k]$." class="md-ellipsis">symbol_<wbr>map</span>
+      </a>
+    </li>
+  
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+          
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+              <span class="md-nav__icon md-icon"></span>
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+      
+      <nav class="md-nav" aria-label="Filter analysis" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Filter analysis</span>
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+          
+            
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+  
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+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.filter/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.filter (Python function) — Plots the frequency response $H(omega)$, impulse response $h[n]$, step response $s[n]$, and zeros and poles of the filter." class="md-ellipsis">filter</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.frequency_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.frequency_response (Python function) — Plots the frequency response $H(omega)$ of the filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.group_delay/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.group_delay (Python function) — Plots the group delay $tau_g(omega)$ of the IIR filter." class="md-ellipsis">group_<wbr>delay</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.impulse_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.impulse_response (Python function) — Plots the impulse response $h[n]$ of a filter." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.phase_delay/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.phase_delay (Python function) — Plots the phase delay $tau_{phi}(omega)$ of the filter." class="md-ellipsis">phase_<wbr>delay</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.phase_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.phase_response (Python function) — Plots the phase response $Theta(omega)$ of the filter." class="md-ellipsis">phase_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.step_response/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.step_response (Python function) — Plots the step response $s[n]$ of a filter." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.zeros_poles/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.zeros_poles (Python function) — Plots the zeros and poles of the filter." class="md-ellipsis">zeros_<wbr>poles</span>
+      </a>
+    </li>
+  
+
+            
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+      </nav>
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+
+<dl class="py method objdesc">
+<dt class="sig sig-object highlight py">
+<span class="sig-prename descclassname"><span class="pre">sdr.</span><span class="pre">IIR.</span></span><span class="sig-name descname"><span class="pre">__str__</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.11)"><span class="pre">str</span></a></span></span></span></dt>
+<dd><p>Returns a human-readable string representation of the object.</p>
+<p class="example rubric" id="examples">Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></p>
+<div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [1]: </span><span class="n">zero</span> <span class="o">=</span> <span class="mf">0.6</span>
+
+<span class="gp">In [2]: </span><span class="n">pole</span> <span class="o">=</span> <span class="mf">0.8</span> <span class="o">*</span> <span class="n">np</span><span class="o">.</span><span class="n">exp</span><span class="p">(</span><span class="mi">1</span><span class="n">j</span> <span class="o">*</span> <span class="n">np</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">8</span><span class="p">)</span>
+
+<span class="gp">In [3]: </span><span class="n">iir</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">IIR</span><span class="o">.</span><span class="n">ZerosPoles</span><span class="p">([</span><span class="n">zero</span><span class="p">],</span> <span class="p">[</span><span class="n">pole</span><span class="p">,</span> <span class="n">pole</span><span class="o">.</span><span class="n">conj</span><span class="p">()])</span>
+
+<span class="gp">In [4]: </span><span class="nb">print</span><span class="p">(</span><span class="n">iir</span><span class="p">)</span>
+<span class="go">sdr.IIR:</span>
+<span class="go">  order: 2</span>
+<span class="go">  b_taps: (2,) shape</span>
+<span class="go">    [1.0, -0.6]</span>
+<span class="go">  a_taps: (3,) shape</span>
+<span class="go">    [1.0, -1.478207252018059, 0.6400000000000001]</span>
+<span class="go">  zeros: (1,) shape</span>
+<span class="go">    [0.6]</span>
+<span class="go">  poles: (2,) shape</span>
+<span class="go">    [(0.7391036260090295+0.3061467458920719j), (0.7391036260090295-0.3061467458920719j)]</span>
+<span class="go">  streaming: False</span>
+</code></pre></div>
+</div>
+</dd></dl>
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+    <a href="https://github.com/mhostetter/sdr" target="_blank" rel="noopener" title="github.com" class="md-social__link">
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+    <a href="https://pypi.org/project/sdr/" target="_blank" rel="noopener" title="pypi.org" class="md-social__link">
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.8 200.5c-7.7-30.9-22.3-54.2-53.4-54.2h-40.1v47.4c0 36.8-31.2 67.8-66.8 67.8H172.7c-29.2 0-53.4 25-53.4 54.3v101.8c0 29 25.2 46 53.4 54.3 33.8 9.9 66.3 11.7 106.8 0 26.9-7.8 53.4-23.5 53.4-54.3v-40.7H226.2v-13.6h160.2c31.1 0 42.6-21.7 53.4-54.2 11.2-33.5 10.7-65.7 0-108.6zM286.2 404c11.1 0 20.1 9.1 20.1 20.3 0 11.3-9 20.4-20.1 20.4-11 0-20.1-9.2-20.1-20.4.1-11.3 9.1-20.3 20.1-20.3zM167.8 248.1h106.8c29.7 0 53.4-24.5 53.4-54.3V91.9c0-29-24.4-50.7-53.4-55.6-35.8-5.9-74.7-5.6-106.8.1-45.2 8-53.4 24.7-53.4 55.6v40.7h106.9v13.6h-147c-31.1 0-58.3 18.7-66.8 54.2-9.8 40.7-10.2 66.1 0 108.6 7.6 31.6 25.7 54.2 56.8 54.2H101v-48.8c0-35.3 30.5-66.4 66.8-66.4zm-6.7-142.6c-11.1 0-20.1-9.1-20.1-20.3.1-11.3 9-20.4 20.1-20.4 11 0 20.1 9.2 20.1 20.4s-9 20.3-20.1 20.3z"/></svg>
+    </a>
+  
+    
+    
+      
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+    
+    <a href="https://twitter.com/sdr_py" target="_blank" rel="noopener" title="twitter.com" class="md-social__link">
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512"><!--! Font Awesome Free 6.2.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M459.37 151.716c.325 4.548.325 9.097.325 13.645 0 138.72-105.583 298.558-298.558 298.558-59.452 0-114.68-17.219-161.137-47.106 8.447.974 16.568 1.299 25.34 1.299 49.055 0 94.213-16.568 130.274-44.832-46.132-.975-84.792-31.188-98.112-72.772 6.498.974 12.995 1.624 19.818 1.624 9.421 0 18.843-1.3 27.614-3.573-48.081-9.747-84.143-51.98-84.143-102.985v-1.299c13.969 7.797 30.214 12.67 47.431 13.319-28.264-18.843-46.781-51.005-46.781-87.391 0-19.492 5.197-37.36 14.294-52.954 51.655 63.675 129.3 105.258 216.365 109.807-1.624-7.797-2.599-15.918-2.599-24.04 0-57.828 46.782-104.934 104.934-104.934 30.213 0 57.502 12.67 76.67 33.137 23.715-4.548 46.456-13.32 66.599-25.34-7.798 24.366-24.366 44.833-46.132 57.827 21.117-2.273 41.584-8.122 60.426-16.243-14.292 20.791-32.161 39.308-52.628 54.253z"/></svg>
+    </a>
+  
+</div>
+      
+    </div>
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+  </div>
+</footer>
+      
+    </div>
+    <div class="md-dialog" data-md-component="dialog">
+      <div class="md-dialog__inner md-typeset"></div>
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.top", "navigation.tracking", "toc.follow", "toc.sticky", "content.tabs.link", "announce.dismiss"], "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.config.lang": "en", "search.config.pipeline": "trimmer, stopWordFilter", "search.config.separator": "[\\s\\-]+", "search.placeholder": "Search", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version.title": "Select version"}, "version": {"provider": "mike", "staticVersions": null, "versionPath": "../versions.json"}}</script>
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+        <script src="../../_static/sphinx_immaterial_theme.1b5b7a2d5891aec19.min.js"></script>
+        <script src="../../_static/design-tabs.js"></script>
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+  </body>
+</html>
\ No newline at end of file
diff --git a/v0.0.x/api/sdr.IIR.a_taps/index.html b/v0.0.x/api/sdr.IIR.a_taps/index.html
index 681b0bab4..9da7fae84 100644
--- a/v0.0.x/api/sdr.IIR.a_taps/index.html
+++ b/v0.0.x/api/sdr.IIR.a_taps/index.html
@@ -836,7 +836,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -844,8 +844,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -943,7 +1011,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -951,14 +1019,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1044,18 +1112,20 @@
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1063,10 +1133,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1085,7 +1155,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1107,8 +1177,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1138,7 +1223,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1160,8 +1245,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1191,7 +1276,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1199,10 +1284,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1213,8 +1298,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1244,7 +1344,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1252,8 +1352,123 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1263,11 +1478,64 @@
               
   
   
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
       </a>
     </li>
   
@@ -1281,8 +1549,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
       </a>
     </li>
   
@@ -1296,8 +1564,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1311,14 +1579,52 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
       </a>
     </li>
   
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1339,31 +1645,29 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Multirate filtering</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1376,24 +1680,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1402,15 +1706,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1419,8 +1738,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1444,22 +1763,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1472,8 +1791,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1497,24 +1816,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1525,8 +1844,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1540,26 +1859,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1568,15 +1880,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1585,8 +1912,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
@@ -1605,29 +1932,27 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
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           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1637,50 +1962,12 @@
               
   
   
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-  
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-    <li class="md-nav__item md-nav__item--active">
-      
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
-      
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
-      
-        
-
-<nav class="md-nav md-nav--secondary">
-  
-  
-    
-  
-  
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
-      
-        <li class="md-nav__item">
-  <a href="#examples" class="md-nav__link">
-    <span class="md-ellipsis">Examples</span>
-  </a>
-  
-</li>
-      
-    </ul>
-  
-</nav>
-      
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@@ -1693,8 +1980,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1708,8 +1995,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1723,41 +2010,27 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1768,8 +2041,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
       </a>
     </li>
   
@@ -1784,22 +2057,6 @@
 
             
           
-        </ul>
-      </nav>
-    </li>
-  
-  
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-            
-          
-        </ul>
-      </nav>
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-  
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-            
-          
             
               
   
@@ -1809,7 +2066,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1817,14 +2074,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1839,7 +2096,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1847,14 +2104,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1869,7 +2126,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1877,14 +2134,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1922,7 +2179,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1930,14 +2187,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1975,7 +2232,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1983,14 +2240,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2028,7 +2285,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2036,14 +2293,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2127,7 +2384,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2135,14 +2392,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.IIR.b_taps/index.html b/v0.0.x/api/sdr.IIR.b_taps/index.html
index 7ca798edd..126468d16 100644
--- a/v0.0.x/api/sdr.IIR.b_taps/index.html
+++ b/v0.0.x/api/sdr.IIR.b_taps/index.html
@@ -836,7 +836,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -844,8 +844,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -943,7 +1011,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -951,14 +1019,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1044,18 +1112,20 @@
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1063,10 +1133,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
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@@ -1085,7 +1155,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1107,8 +1177,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1138,7 +1223,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1160,8 +1245,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1191,7 +1276,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1199,10 +1284,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1213,8 +1298,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1244,7 +1344,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1252,8 +1352,123 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1266,9 +1481,62 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
       </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
     </li>
   
 
@@ -1281,8 +1549,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
       </a>
     </li>
   
@@ -1296,8 +1564,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1311,14 +1579,52 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
       </a>
     </li>
   
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1339,31 +1645,29 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Multirate filtering</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1376,24 +1680,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1402,15 +1706,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1419,8 +1738,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1444,22 +1763,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1472,8 +1791,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1497,24 +1816,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1525,8 +1844,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1540,26 +1859,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1568,15 +1880,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1585,8 +1912,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
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@@ -1605,29 +1932,27 @@
               
   
   
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-  
   
     
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
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-            <label for="__nav_3_1_1_3_4">
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1640,8 +1965,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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     </li>
   
@@ -1652,50 +1977,12 @@
               
   
   
-    
-  
-    
   
   
-    <li class="md-nav__item md-nav__item--active">
-      
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
-      
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
-      
-        
-
-<nav class="md-nav md-nav--secondary">
-  
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-    
-  
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-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
-      
-        <li class="md-nav__item">
-  <a href="#examples" class="md-nav__link">
-    <span class="md-ellipsis">Examples</span>
-  </a>
-  
-</li>
-      
-    </ul>
-  
-</nav>
-      
     </li>
   
 
@@ -1708,8 +1995,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1723,41 +2010,27 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1768,8 +2041,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
       </a>
     </li>
   
@@ -1784,22 +2057,6 @@
 
             
           
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1817,14 +2074,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
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+        <label class="md-nav__title" for="__nav_3_1_3">
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           <span class="md-ellipsis">Resampling</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1847,14 +2104,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1877,14 +2134,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1930,14 +2187,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1983,14 +2240,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -2036,14 +2293,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2135,14 +2392,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.IIR.frequency_response/index.html b/v0.0.x/api/sdr.IIR.frequency_response/index.html
index b6d2015fd..9cd0f7115 100644
--- a/v0.0.x/api/sdr.IIR.frequency_response/index.html
+++ b/v0.0.x/api/sdr.IIR.frequency_response/index.html
@@ -836,7 +836,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
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         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
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+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -943,7 +1011,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -951,14 +1019,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1044,18 +1112,20 @@
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1063,10 +1133,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1085,7 +1155,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1107,8 +1177,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1138,7 +1223,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1160,8 +1245,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1191,7 +1276,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1199,8 +1284,78 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1210,11 +1365,143 @@
               
   
   
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#parameters" class="md-nav__link">
+    <span class="md-ellipsis">Parameters</span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Parameters">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#p-sample_rate" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.frequency_response.sample_rate (Python parameter) — The sample rate $f_s$ of the filter in samples/s." class="md-ellipsis">sample_<wbr>rate</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-N" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.frequency_response.N (Python parameter) — The number of samples in the frequency response." class="md-ellipsis">N</span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#returns" class="md-nav__link">
+    <span class="md-ellipsis">Returns</span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
       </a>
     </li>
   
@@ -1238,22 +1525,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_2_4">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_2_4">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1266,8 +1553,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
       </a>
     </li>
   
@@ -1281,8 +1568,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
       </a>
     </li>
   
@@ -1296,8 +1583,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
       </a>
     </li>
   
@@ -1311,14 +1598,67 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
       </a>
     </li>
   
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1339,31 +1679,59 @@
               
   
   
+  
     
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
+          
+            <label for="__nav_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
   
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
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@@ -1376,22 +1744,22 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1404,23 +1772,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1444,22 +1797,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1472,8 +1825,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1492,31 +1845,29 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_3">
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         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
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@@ -1524,84 +1875,12 @@
               
   
   
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-  
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-    <li class="md-nav__item md-nav__item--active">
-      
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
-      
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
-      
-        
-
-<nav class="md-nav md-nav--secondary">
-  
-  
-    
-  
-  
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
-      
-        <li class="md-nav__item">
-  <a href="#parameters" class="md-nav__link">
-    <span class="md-ellipsis">Parameters</span>
-  </a>
-  
-    <nav class="md-nav" aria-label="Parameters">
-      <ul class="md-nav__list">
-        
-          <li class="md-nav__item">
-  <a href="#p-sample_rate" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.frequency_response.sample_rate (Python parameter) — The sample rate $f_s$ of the filter in samples/s." class="md-ellipsis">sample_<wbr>rate</span>
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="#p-N" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.frequency_response.N (Python parameter) — The number of samples in the frequency response." class="md-ellipsis">N</span>
-  </a>
-  
-</li>
-        
-      </ul>
-    </nav>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#returns" class="md-nav__link">
-    <span class="md-ellipsis">Returns</span>
-  </a>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#examples" class="md-nav__link">
-    <span class="md-ellipsis">Examples</span>
-  </a>
-  
-</li>
-      
-    </ul>
-  
-</nav>
-      
     </li>
   
 
@@ -1614,26 +1893,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1642,15 +1914,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1659,8 +1946,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_5">
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1712,8 +1999,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1727,8 +2014,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1742,8 +2029,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1757,41 +2044,27 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
 
             
           
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-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
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-              
-  
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-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1802,8 +2075,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
       </a>
     </li>
   
@@ -1818,22 +2091,6 @@
 
             
           
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-      </nav>
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+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1851,14 +2108,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1873,7 +2130,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1881,14 +2138,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1903,7 +2160,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1911,14 +2168,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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           <span class="md-ellipsis">Constructors</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1964,14 +2221,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -2017,14 +2274,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2070,14 +2327,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2161,7 +2418,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2169,14 +2426,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -6339,7 +6596,7 @@
     <nav class="md-footer__inner md-grid" aria-label="Footer" >
       
         
-        <a href="../sdr.IIR.__call__/" class="md-footer__link md-footer__link--prev" aria-label="Previous: sdr.IIR.__call__" rel="prev">
+        <a href="../sdr.IIR.__str__/" class="md-footer__link md-footer__link--prev" aria-label="Previous: sdr.IIR.__str__" rel="prev">
           <div class="md-footer__button md-icon">
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           </div>
@@ -6348,7 +6605,7 @@
               <span class="md-footer__direction">
                 Previous
               </span>
-              sdr.IIR.__call__
+              sdr.IIR.__str__
             </div>
           </div>
         </a>
diff --git a/v0.0.x/api/sdr.IIR.frequency_response_log/index.html b/v0.0.x/api/sdr.IIR.frequency_response_log/index.html
index 9549ee654..aaa919cb0 100644
--- a/v0.0.x/api/sdr.IIR.frequency_response_log/index.html
+++ b/v0.0.x/api/sdr.IIR.frequency_response_log/index.html
@@ -836,7 +836,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -844,8 +844,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -943,7 +1011,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -951,14 +1019,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1044,18 +1112,20 @@
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1063,10 +1133,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1085,7 +1155,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1107,8 +1177,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1138,7 +1223,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1160,8 +1245,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1191,7 +1276,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1199,8 +1284,78 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1213,8 +1368,147 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#parameters" class="md-nav__link">
+    <span class="md-ellipsis">Parameters</span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Parameters">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#p-sample_rate" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.frequency_response_log.sample_rate (Python parameter) — The sample rate $f_s$ of the filter in samples/s." class="md-ellipsis">sample_<wbr>rate</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-N" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.frequency_response_log.N (Python parameter) — The number of samples in the frequency response." class="md-ellipsis">N</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-decades" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.frequency_response_log.decades (Python parameter) — The number of frequency decades to plot." class="md-ellipsis">decades</span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#returns" class="md-nav__link">
+    <span class="md-ellipsis">Returns</span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
       </a>
     </li>
   
@@ -1238,22 +1532,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_2_4">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_2_4">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1266,8 +1560,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
       </a>
     </li>
   
@@ -1281,8 +1575,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
       </a>
     </li>
   
@@ -1296,8 +1590,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
       </a>
     </li>
   
@@ -1311,14 +1605,67 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1339,31 +1686,29 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Multirate filtering</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1376,24 +1721,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1402,15 +1747,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1419,8 +1779,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1444,22 +1804,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1472,8 +1832,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1492,31 +1852,29 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1527,8 +1885,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1539,108 +1897,22 @@
               
   
   
-    
-  
-    
   
   
-    <li class="md-nav__item md-nav__item--active">
-      
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
-      
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
-      
-        
-
-<nav class="md-nav md-nav--secondary">
-  
-  
-    
-  
-  
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
-      
-        <li class="md-nav__item">
-  <a href="#parameters" class="md-nav__link">
-    <span class="md-ellipsis">Parameters</span>
-  </a>
-  
-    <nav class="md-nav" aria-label="Parameters">
-      <ul class="md-nav__list">
-        
-          <li class="md-nav__item">
-  <a href="#p-sample_rate" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.frequency_response_log.sample_rate (Python parameter) — The sample rate $f_s$ of the filter in samples/s." class="md-ellipsis">sample_<wbr>rate</span>
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="#p-N" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.frequency_response_log.N (Python parameter) — The number of samples in the frequency response." class="md-ellipsis">N</span>
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="#p-decades" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.frequency_response_log.decades (Python parameter) — The number of frequency decades to plot." class="md-ellipsis">decades</span>
-  </a>
-  
-</li>
-        
-      </ul>
-    </nav>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#returns" class="md-nav__link">
-    <span class="md-ellipsis">Returns</span>
-  </a>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#examples" class="md-nav__link">
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-  
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-      
-    </ul>
-  
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-      
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-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1649,15 +1921,30 @@
   
   
   
-  
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-      <a href="../sdr.IIR.reset/" class="md-nav__link">
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-
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+      
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+              <span class="md-nav__icon md-icon"></span>
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+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
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@@ -1666,8 +1953,8 @@
   
   
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+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
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-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
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-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
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@@ -1719,8 +2006,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1734,8 +2021,8 @@
   
   
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-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
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@@ -1749,8 +2036,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
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@@ -1764,41 +2051,27 @@
   
   
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-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
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-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1809,8 +2082,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
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@@ -1825,22 +2098,6 @@
 
             
           
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-            <label for="__nav_3_1_2">
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-            <label for="__nav_3_1_2_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
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           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1918,14 +2175,14 @@
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-            <label for="__nav_3_1_2_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
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@@ -1971,14 +2228,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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@@ -2024,14 +2281,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
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@@ -2077,14 +2334,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
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@@ -2176,14 +2433,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
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diff --git a/v0.0.x/api/sdr.IIR.gain/index.html b/v0.0.x/api/sdr.IIR.gain/index.html
index 4bc883210..dafcf735b 100644
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+++ b/v0.0.x/api/sdr.IIR.gain/index.html
@@ -836,7 +836,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
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@@ -844,8 +844,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
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+
+            
+          
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+            
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+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
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+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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-            <label for="__nav_3_1_1_1_4">
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@@ -1044,18 +1112,20 @@
               
   
   
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+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1063,10 +1133,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1085,7 +1155,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1107,8 +1177,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1138,7 +1223,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1160,8 +1245,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1191,7 +1276,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1199,10 +1284,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1213,8 +1298,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1244,7 +1344,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1252,8 +1352,123 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1266,8 +1481,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
       </a>
     </li>
   
@@ -1281,9 +1496,62 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
       </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
     </li>
   
 
@@ -1296,8 +1564,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1311,14 +1579,52 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
       </a>
     </li>
   
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1339,31 +1645,29 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Multirate filtering</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1376,24 +1680,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1402,15 +1706,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1419,8 +1738,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1444,22 +1763,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1472,8 +1791,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1497,24 +1816,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1525,53 +1844,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1585,8 +1859,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1605,31 +1879,29 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1640,26 +1912,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1667,54 +1932,31 @@
               
   
   
-    
   
     
-  
-  
-    <li class="md-nav__item md-nav__item--active">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
       
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
       
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
       
         
-
-<nav class="md-nav md-nav--secondary">
-  
-  
-    
-  
-  
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
-      
-        <li class="md-nav__item">
-  <a href="#examples" class="md-nav__link">
-    <span class="md-ellipsis">Examples</span>
-  </a>
-  
-</li>
-      
-    </ul>
-  
-</nav>
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
       
-    </li>
-  
-
-            
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1723,8 +1965,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1738,8 +1980,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1753,8 +1995,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1768,8 +2010,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1792,6 +2034,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1809,7 +2066,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1817,14 +2074,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1839,7 +2096,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1847,14 +2104,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1869,7 +2126,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1877,14 +2134,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1922,7 +2179,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1930,14 +2187,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1975,7 +2232,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1983,14 +2240,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2028,7 +2285,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2036,14 +2293,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
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           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2127,7 +2384,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2135,14 +2392,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.IIR.impulse_response/index.html b/v0.0.x/api/sdr.IIR.impulse_response/index.html
index a043c699f..1c2b45c5a 100644
--- a/v0.0.x/api/sdr.IIR.impulse_response/index.html
+++ b/v0.0.x/api/sdr.IIR.impulse_response/index.html
@@ -836,7 +836,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -844,8 +844,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -943,7 +1011,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -951,14 +1019,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1044,18 +1112,20 @@
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1063,10 +1133,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1085,7 +1155,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1107,8 +1177,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1138,7 +1223,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1160,8 +1245,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1191,7 +1276,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1199,8 +1284,78 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1213,8 +1368,133 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#parameters" class="md-nav__link">
+    <span class="md-ellipsis">Parameters</span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Parameters">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#p-N" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.impulse_response.N (Python parameter) — The number of samples to return." class="md-ellipsis">N</span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#returns" class="md-nav__link">
+    <span class="md-ellipsis">Returns</span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
       </a>
     </li>
   
@@ -1238,22 +1518,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_2_4">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_2_4">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1266,8 +1546,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
       </a>
     </li>
   
@@ -1281,8 +1561,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
       </a>
     </li>
   
@@ -1296,8 +1576,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
       </a>
     </li>
   
@@ -1311,14 +1591,67 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
       </a>
     </li>
   
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1339,31 +1672,59 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
+          
+            <label for="__nav_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1376,22 +1737,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1404,23 +1765,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1444,22 +1790,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1472,8 +1818,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1492,31 +1838,29 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1527,8 +1871,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1542,108 +1886,51 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
   
-    
   
     
-  
-  
-    <li class="md-nav__item md-nav__item--active">
-      
+    <li class="md-nav__item md-nav__item--nested">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
       
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
       
-        
-
-<nav class="md-nav md-nav--secondary">
-  
-  
-    
-  
-  
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
       
-        <li class="md-nav__item">
-  <a href="#parameters" class="md-nav__link">
-    <span class="md-ellipsis">Parameters</span>
-  </a>
-  
-    <nav class="md-nav" aria-label="Parameters">
-      <ul class="md-nav__list">
-        
-          <li class="md-nav__item">
-  <a href="#p-N" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.impulse_response.N (Python parameter) — The number of samples to return." class="md-ellipsis">N</span>
-  </a>
-  
-</li>
         
-      </ul>
-    </nav>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#returns" class="md-nav__link">
-    <span class="md-ellipsis">Returns</span>
-  </a>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#examples" class="md-nav__link">
-    <span class="md-ellipsis">Examples</span>
-  </a>
-  
-</li>
-      
-    </ul>
-  
-</nav>
-      
-    </li>
-  
-
-            
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-      </a>
-    </li>
-  
-
-            
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1652,8 +1939,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
@@ -1677,22 +1964,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1705,8 +1992,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1720,8 +2007,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1735,8 +2022,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1750,41 +2037,27 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1795,8 +2068,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
       </a>
     </li>
   
@@ -1811,22 +2084,6 @@
 
             
           
-        </ul>
-      </nav>
-    </li>
-  
-  
-
-            
-          
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-  
-  
-
-            
-          
             
               
   
@@ -1836,7 +2093,7 @@
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+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1844,14 +2101,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
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+        <label class="md-nav__title" for="__nav_3_1_3">
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           <span class="md-ellipsis">Resampling</span>
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@@ -1866,7 +2123,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1874,14 +2131,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1896,7 +2153,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1904,14 +2161,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1957,14 +2214,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -2002,7 +2259,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -2010,14 +2267,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2055,7 +2312,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2063,14 +2320,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2154,7 +2411,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2162,14 +2419,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.IIR.order/index.html b/v0.0.x/api/sdr.IIR.order/index.html
index f0a2b8b9b..3bd9f2fd3 100644
--- a/v0.0.x/api/sdr.IIR.order/index.html
+++ b/v0.0.x/api/sdr.IIR.order/index.html
@@ -836,7 +836,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -844,8 +844,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -943,7 +1011,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -951,14 +1019,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1044,18 +1112,20 @@
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1063,10 +1133,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1085,7 +1155,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1107,8 +1177,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1138,7 +1223,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1160,8 +1245,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1191,7 +1276,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1199,10 +1284,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1213,8 +1298,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1244,7 +1344,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1252,8 +1352,123 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1266,8 +1481,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
       </a>
     </li>
   
@@ -1281,8 +1496,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
       </a>
     </li>
   
@@ -1293,11 +1523,64 @@
               
   
   
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
       </a>
     </li>
   
@@ -1311,14 +1594,37 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
       </a>
     </li>
   
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1339,31 +1645,29 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Multirate filtering</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1376,24 +1680,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1402,15 +1706,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1419,8 +1738,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1444,22 +1763,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1472,8 +1791,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1497,24 +1816,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1525,8 +1844,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1540,26 +1859,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1568,15 +1880,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1585,8 +1912,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
@@ -1605,29 +1932,27 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_5">
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1640,8 +1965,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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     </li>
   
@@ -1655,8 +1980,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1670,8 +1995,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1682,82 +2007,30 @@
               
   
   
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-  
-    
   
   
-    <li class="md-nav__item md-nav__item--active">
-      
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
-      
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
-      
-        
-
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-  
-  
-    
-  
-  
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
-      
-        <li class="md-nav__item">
-  <a href="#examples" class="md-nav__link">
-    <span class="md-ellipsis">Examples</span>
-  </a>
-  
-</li>
-      
-    </ul>
-  
-</nav>
-      
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1768,8 +2041,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
       </a>
     </li>
   
@@ -1784,22 +2057,6 @@
 
             
           
-        </ul>
-      </nav>
-    </li>
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-  
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-            
-          
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-      </nav>
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@@ -1809,7 +2066,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1817,14 +2074,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1839,7 +2096,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1847,14 +2104,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1869,7 +2126,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1877,14 +2134,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1922,7 +2179,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1930,14 +2187,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1975,7 +2232,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1983,14 +2240,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2028,7 +2285,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2036,14 +2293,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2127,7 +2384,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2135,14 +2392,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.IIR.poles/index.html b/v0.0.x/api/sdr.IIR.poles/index.html
index 2c67b99f9..a37e09882 100644
--- a/v0.0.x/api/sdr.IIR.poles/index.html
+++ b/v0.0.x/api/sdr.IIR.poles/index.html
@@ -836,7 +836,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -844,8 +844,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -943,7 +1011,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -951,14 +1019,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1044,18 +1112,20 @@
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1063,10 +1133,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1085,7 +1155,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1107,8 +1177,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1138,7 +1223,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1160,8 +1245,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1191,7 +1276,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1199,10 +1284,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1213,8 +1298,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1244,7 +1344,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1252,8 +1352,123 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1266,8 +1481,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
       </a>
     </li>
   
@@ -1281,8 +1496,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
       </a>
     </li>
   
@@ -1296,8 +1511,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
       </a>
     </li>
   
@@ -1311,14 +1526,105 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
 
             
           
+            
+              
+  
+  
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1339,31 +1645,29 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Multirate filtering</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1376,24 +1680,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1402,15 +1706,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1419,8 +1738,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1444,22 +1763,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1472,8 +1791,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1497,24 +1816,24 @@
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-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
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@@ -1525,8 +1844,8 @@
   
   
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-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
+        </ul>
+      </nav>
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+  
 
             
           
@@ -1568,15 +1880,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
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+      
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+          
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+            </label>
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@@ -1585,8 +1912,8 @@
   
   
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-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
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@@ -1640,8 +1965,8 @@
   
   
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-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1655,8 +1980,8 @@
   
   
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-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
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@@ -1670,8 +1995,8 @@
   
   
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-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
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@@ -1685,79 +2010,27 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
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-      
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
-      
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-      </a>
-      
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-      
-        <li class="md-nav__item">
-  <a href="#examples" class="md-nav__link">
-    <span class="md-ellipsis">Examples</span>
-  </a>
-  
-</li>
-      
-    </ul>
-  
-</nav>
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+        </ul>
+      </nav>
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+  
 
             
           
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-              
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-  
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-    <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1768,8 +2041,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
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@@ -1784,22 +2057,6 @@
 
             
           
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@@ -1817,14 +2074,14 @@
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-            <label for="__nav_3_1_2">
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1847,14 +2104,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
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           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1877,14 +2134,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
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@@ -1930,14 +2187,14 @@
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -2036,14 +2293,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
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diff --git a/v0.0.x/api/sdr.IIR.reset/index.html b/v0.0.x/api/sdr.IIR.reset/index.html
index 5e97bf945..f6bf39f32 100644
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -943,7 +1011,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -951,14 +1019,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1044,18 +1112,20 @@
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1063,10 +1133,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1085,7 +1155,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1107,8 +1177,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1138,7 +1223,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1160,8 +1245,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1191,7 +1276,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1199,8 +1284,78 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1213,8 +1368,106 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
       </a>
     </li>
   
@@ -1238,22 +1491,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_2_4">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_2_4">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1266,8 +1519,53 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1281,8 +1579,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
       </a>
     </li>
   
@@ -1296,8 +1594,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
       </a>
     </li>
   
@@ -1311,8 +1609,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1335,35 +1633,41 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Multirate filtering</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1376,24 +1680,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
         </label>
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@@ -1402,15 +1706,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1419,8 +1738,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1444,22 +1763,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1472,8 +1791,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1492,31 +1811,29 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_3">
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         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1527,8 +1844,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1542,26 +1859,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1569,54 +1879,31 @@
               
   
   
-    
   
     
-  
-  
-    <li class="md-nav__item md-nav__item--active">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
       
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-      </a>
       
         
-
-<nav class="md-nav md-nav--secondary">
-  
-  
-    
-  
-  
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
-      
-        <li class="md-nav__item">
-  <a href="#examples" class="md-nav__link">
-    <span class="md-ellipsis">Examples</span>
-  </a>
-  
-</li>
-      
-    </ul>
-  
-</nav>
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
       
-    </li>
-  
-
-            
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1625,8 +1912,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
@@ -1650,22 +1937,22 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1678,8 +1965,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1693,8 +1980,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1708,8 +1995,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1723,41 +2010,27 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1768,8 +2041,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
       </a>
     </li>
   
@@ -1784,22 +2057,6 @@
 
             
           
-        </ul>
-      </nav>
-    </li>
-  
-  
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-            
-          
-        </ul>
-      </nav>
-    </li>
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@@ -1809,7 +2066,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1817,14 +2074,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1839,7 +2096,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1847,14 +2104,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1869,7 +2126,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1877,14 +2134,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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           <span class="md-ellipsis">Constructors</span>
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@@ -1922,7 +2179,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1930,14 +2187,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1983,14 +2240,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2028,7 +2285,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2036,14 +2293,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2127,7 +2384,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2135,14 +2392,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.IIR.step_response/index.html b/v0.0.x/api/sdr.IIR.step_response/index.html
index 1f7da78c9..74ddea6cd 100644
--- a/v0.0.x/api/sdr.IIR.step_response/index.html
+++ b/v0.0.x/api/sdr.IIR.step_response/index.html
@@ -836,7 +836,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -844,8 +844,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -943,7 +1011,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -951,14 +1019,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1044,18 +1112,20 @@
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1063,10 +1133,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1085,7 +1155,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1107,8 +1177,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1138,7 +1223,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1160,8 +1245,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1191,7 +1276,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1199,8 +1284,78 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1213,14 +1368,139 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#parameters" class="md-nav__link">
+    <span class="md-ellipsis">Parameters</span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Parameters">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#p-N" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.step_response.N (Python parameter) — The number of samples to return." class="md-ellipsis">N</span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#returns" class="md-nav__link">
+    <span class="md-ellipsis">Returns</span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1238,22 +1518,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_2_4">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_2_4">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1266,8 +1546,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
       </a>
     </li>
   
@@ -1281,8 +1561,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
       </a>
     </li>
   
@@ -1296,8 +1576,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
       </a>
     </li>
   
@@ -1311,8 +1591,53 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1335,35 +1660,71 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
+          
+            <label for="__nav_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
             
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1376,22 +1737,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1404,23 +1765,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1444,22 +1790,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1472,8 +1818,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1492,31 +1838,29 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1527,8 +1871,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1542,40 +1886,18 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
-
-            
-          
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-      </a>
-    </li>
   
 
             
@@ -1584,77 +1906,42 @@
               
   
   
-    
   
     
-  
-  
-    <li class="md-nav__item md-nav__item--active">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
       
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
-      </a>
       
         
-
-<nav class="md-nav md-nav--secondary">
-  
-  
-    
-  
-  
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
       
-        <li class="md-nav__item">
-  <a href="#parameters" class="md-nav__link">
-    <span class="md-ellipsis">Parameters</span>
-  </a>
-  
-    <nav class="md-nav" aria-label="Parameters">
-      <ul class="md-nav__list">
-        
-          <li class="md-nav__item">
-  <a href="#p-N" class="md-nav__link">
-    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.IIR.step_response.N (Python parameter) — The number of samples to return." class="md-ellipsis">N</span>
-  </a>
-  
-</li>
-        
-      </ul>
-    </nav>
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
   
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#returns" class="md-nav__link">
-    <span class="md-ellipsis">Returns</span>
-  </a>
   
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#examples" class="md-nav__link">
-    <span class="md-ellipsis">Examples</span>
-  </a>
   
-</li>
-      
-    </ul>
   
-</nav>
-      
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
     </li>
   
 
@@ -1677,22 +1964,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1705,8 +1992,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1720,8 +2007,8 @@
   
   
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+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
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@@ -1735,8 +2022,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
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@@ -1750,41 +2037,27 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1795,8 +2068,8 @@
   
   
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-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
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@@ -1811,22 +2084,6 @@
 
             
           
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-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
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           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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-            <label for="__nav_3_1_2_1_1">
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@@ -1957,14 +2214,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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@@ -2010,14 +2267,14 @@
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-            <label for="__nav_3_1_2_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
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@@ -2063,14 +2320,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
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diff --git a/v0.0.x/api/sdr.IIR.streaming/index.html b/v0.0.x/api/sdr.IIR.streaming/index.html
index a6745f7a4..769c6c995 100644
--- a/v0.0.x/api/sdr.IIR.streaming/index.html
+++ b/v0.0.x/api/sdr.IIR.streaming/index.html
@@ -836,7 +836,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -844,8 +844,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
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+  
+  
+
+            
+          
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+              
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+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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+              <span class="md-nav__icon md-icon"></span>
+            </label>
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+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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-            <label for="__nav_3_1_1_1_4">
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@@ -1044,18 +1112,20 @@
               
   
   
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+  
   
     
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-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
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               <span class="md-nav__icon md-icon"></span>
@@ -1063,10 +1133,10 @@
           
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-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
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           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1085,7 +1155,7 @@
       
         
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-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1107,8 +1177,23 @@
   
   
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+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
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@@ -1138,7 +1223,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
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@@ -1160,8 +1245,8 @@
   
   
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+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
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@@ -1191,7 +1276,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1199,10 +1284,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1213,8 +1298,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1244,7 +1344,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1252,8 +1352,123 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1266,8 +1481,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
       </a>
     </li>
   
@@ -1281,8 +1496,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
       </a>
     </li>
   
@@ -1296,8 +1511,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
       </a>
     </li>
   
@@ -1311,14 +1526,105 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1339,31 +1645,29 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Multirate filtering</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1376,24 +1680,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1402,15 +1706,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1419,8 +1738,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1444,22 +1763,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1472,8 +1791,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1497,24 +1816,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1525,8 +1844,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1540,26 +1859,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1568,15 +1880,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
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+      
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+      
+      
+      
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+        <div class="md-nav__link md-nav__link--index ">
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+          
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+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
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+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1585,8 +1912,8 @@
   
   
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+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
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@@ -1605,29 +1932,27 @@
               
   
   
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
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-            <label for="__nav_3_1_1_3_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
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           <span class="md-ellipsis">Properties</span>
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@@ -1640,8 +1965,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1655,8 +1980,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1670,8 +1995,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1685,79 +2010,27 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
-            
-              
-  
-  
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-    <li class="md-nav__item md-nav__item--active">
-      
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-      
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
-      
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-      </a>
-      
-        
-
-<nav class="md-nav md-nav--secondary">
-  
-  
-    
-  
-  
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
-      
-        <li class="md-nav__item">
-  <a href="#examples" class="md-nav__link">
-    <span class="md-ellipsis">Examples</span>
-  </a>
-  
-</li>
-      
-    </ul>
-  
-</nav>
-      
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1768,8 +2041,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
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     </li>
   
@@ -1784,22 +2057,6 @@
 
             
           
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@@ -1817,14 +2074,14 @@
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-            <label for="__nav_3_1_2">
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
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           <span class="md-ellipsis">Resampling</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1847,14 +2104,14 @@
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-            <label for="__nav_3_1_2_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1877,14 +2134,14 @@
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-            <label for="__nav_3_1_2_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
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@@ -1930,14 +2187,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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@@ -1983,14 +2240,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
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@@ -2036,14 +2293,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2135,14 +2392,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
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diff --git a/v0.0.x/api/sdr.IIR.zeros/index.html b/v0.0.x/api/sdr.IIR.zeros/index.html
index e71b15c73..d819e7a26 100644
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+++ b/v0.0.x/api/sdr.IIR.zeros/index.html
@@ -836,7 +836,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -844,8 +844,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
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+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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@@ -943,7 +1011,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -951,14 +1019,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1044,18 +1112,20 @@
               
   
   
+    
+  
   
     
-    <li class="md-nav__item md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1063,10 +1133,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1085,7 +1155,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1107,8 +1177,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1138,7 +1223,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1160,8 +1245,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1191,7 +1276,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1199,10 +1284,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1213,8 +1298,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1244,7 +1344,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1252,8 +1352,123 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1266,8 +1481,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
       </a>
     </li>
   
@@ -1281,8 +1496,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
       </a>
     </li>
   
@@ -1296,8 +1511,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
       </a>
     </li>
   
@@ -1311,14 +1526,105 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
       </a>
     </li>
   
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1339,31 +1645,29 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Multirate filtering</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1376,24 +1680,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1402,15 +1706,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1419,8 +1738,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1444,22 +1763,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1472,8 +1791,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1497,24 +1816,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1525,8 +1844,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1540,26 +1859,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1568,15 +1880,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1585,8 +1912,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
@@ -1605,29 +1932,27 @@
               
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1640,8 +1965,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1655,8 +1980,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1670,8 +1995,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1685,41 +2010,27 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1727,68 +2038,14 @@
               
   
   
-    
-  
-    
   
   
-    <li class="md-nav__item md-nav__item--active">
-      
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
-      
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
       </a>
-      
-        
-
-<nav class="md-nav md-nav--secondary">
-  
-  
-    
-  
-  
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
-      
-        <li class="md-nav__item">
-  <a href="#examples" class="md-nav__link">
-    <span class="md-ellipsis">Examples</span>
-  </a>
-  
-</li>
-      
-    </ul>
-  
-</nav>
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-    </li>
-  
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-            
-          
-        </ul>
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-  
 
             
           
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1817,14 +2074,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1839,7 +2096,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1847,14 +2104,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1869,7 +2126,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1877,14 +2134,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1922,7 +2179,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1930,14 +2187,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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           <span class="md-ellipsis">Special methods</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1983,14 +2240,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2028,7 +2285,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2036,14 +2293,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2127,7 +2384,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2135,14 +2392,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -6266,13 +6523,13 @@
       
       
         
-        <a href="../sdr.FarrowResampler/" class="md-footer__link md-footer__link--next" aria-label="Next: sdr.FarrowResampler" rel="next">
+        <a href="../sdr.FIRInterpolator/" class="md-footer__link md-footer__link--next" aria-label="Next: sdr.FIRInterpolator" rel="next">
           <div class="md-footer__title">
             <div class="md-ellipsis">
               <span class="md-footer__direction">
                 Next
               </span>
-              sdr.FarrowResampler
+              sdr.FIRInterpolator
             </div>
           </div>
           <div class="md-footer__button md-icon">
diff --git a/v0.0.x/api/sdr.IIR/index.html b/v0.0.x/api/sdr.IIR/index.html
index ba95c0a3c..24b165c18 100644
--- a/v0.0.x/api/sdr.IIR/index.html
+++ b/v0.0.x/api/sdr.IIR/index.html
@@ -836,7 +836,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -844,8 +844,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -943,7 +1011,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -951,14 +1019,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1044,18 +1112,21 @@
               
   
   
+    
   
     
-    <li class="md-nav__item md-nav__item--nested">
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__current-nested md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" checked>
       
       
       
         
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+        <div class="md-nav__link md-nav__link--index md-nav__link--active">
+          <a href="#"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1063,10 +1134,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
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@@ -1085,7 +1156,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1107,8 +1178,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1138,7 +1224,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1160,8 +1246,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
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@@ -1191,7 +1277,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
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@@ -1199,10 +1285,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1213,8 +1299,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1244,7 +1345,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1252,10 +1353,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1266,8 +1367,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1281,8 +1382,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1296,8 +1397,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1311,19 +1412,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
   
   
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1339,62 +1447,29 @@
               
   
   
-    
-  
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-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index md-nav__link--active">
-          <a href="#"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
-          
-            <label for="__nav_3_1_1_3">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
-          
-        </div>
-      
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
-          <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
-          
-            
-              
-  
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     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1405,8 +1480,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
       </a>
     </li>
   
@@ -1420,19 +1495,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
   
   
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1441,30 +1523,15 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="#special-methods"><span class="md-ellipsis">Special methods</span></a>
-          
-            <label for="__nav_3_1_1_3_2">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
-          
-        </div>
-      
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1473,20 +1540,299 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
   
   
-
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+      
+    <li class="md-nav__item md-nav__item--active md-nav__current-toc">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#notes" class="md-nav__link">
+    <span class="md-ellipsis">Notes</span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#constructors" class="md-nav__link">
+    <span class="md-ellipsis">Constructors</span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Constructors">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.__init__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#special-methods" class="md-nav__link">
+    <span class="md-ellipsis">Special methods</span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Special methods">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.__call__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#string-representation" class="md-nav__link">
+    <span class="md-ellipsis">String representation</span>
+  </a>
+  
+    <nav class="md-nav" aria-label="String representation">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.__str__/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#methods" class="md-nav__link">
+    <span class="md-ellipsis">Methods</span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Methods">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.reset/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.step_response/" class="md-nav__link">
+    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#properties" class="md-nav__link">
+    <span class="md-ellipsis">Properties</span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Properties">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.gain/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.order/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.poles/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.streaming/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="../sdr.IIR.zeros/" class="md-nav__link">
+    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
             
           
             
@@ -1498,24 +1844,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1524,15 +1870,60 @@
   
   
   
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
   
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
-      </a>
-    </li>
   
-
-            
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1541,26 +1932,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1569,15 +1953,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_2_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1586,8 +1985,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1611,24 +2010,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1639,8 +2038,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1654,14 +2053,52 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
             
               
   
@@ -1669,14 +2106,52 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
             
               
   
@@ -1684,8 +2159,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1699,8 +2174,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1714,8 +2189,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1729,8 +2204,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1750,210 +2225,19 @@
     </li>
   
   
-      
-    <li class="md-nav__item md-nav__item--active md-nav__current-toc">
-      
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
-          <span class="md-nav__icon md-icon"></span>
-        </label>
-      
-      <a href="#" class="md-nav__link md-nav__link--active">
-        <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
-      </a>
-      
-        
 
-<nav class="md-nav md-nav--secondary">
-  
-  
-    
-  
-  
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      Table of contents
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
-      
-        <li class="md-nav__item">
-  <a href="#notes" class="md-nav__link">
-    <span class="md-ellipsis">Notes</span>
-  </a>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#examples" class="md-nav__link">
-    <span class="md-ellipsis">Examples</span>
-  </a>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#constructors" class="md-nav__link">
-    <span class="md-ellipsis">Constructors</span>
-  </a>
-  
-    <nav class="md-nav" aria-label="Constructors">
-      <ul class="md-nav__list">
-        
-          <li class="md-nav__item">
-  <a href="../sdr.IIR.__init__/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
-  </a>
-  
-</li>
-        
-      </ul>
-    </nav>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#special-methods" class="md-nav__link">
-    <span class="md-ellipsis">Special methods</span>
-  </a>
-  
-    <nav class="md-nav" aria-label="Special methods">
-      <ul class="md-nav__list">
-        
-          <li class="md-nav__item">
-  <a href="../sdr.IIR.__call__/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
-  </a>
-  
-</li>
-        
-      </ul>
-    </nav>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#methods" class="md-nav__link">
-    <span class="md-ellipsis">Methods</span>
-  </a>
-  
-    <nav class="md-nav" aria-label="Methods">
-      <ul class="md-nav__list">
-        
-          <li class="md-nav__item">
-  <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="../sdr.IIR.reset/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="../sdr.IIR.step_response/" class="md-nav__link">
-    <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
-  </a>
-  
-</li>
-        
-      </ul>
-    </nav>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#properties" class="md-nav__link">
-    <span class="md-ellipsis">Properties</span>
-  </a>
-  
-    <nav class="md-nav" aria-label="Properties">
-      <ul class="md-nav__list">
-        
-          <li class="md-nav__item">
-  <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="../sdr.IIR.gain/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="../sdr.IIR.order/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="../sdr.IIR.poles/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-  </a>
-  
-</li>
-        
-          <li class="md-nav__item">
-  <a href="../sdr.IIR.streaming/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-  </a>
+            
+          
+            
+              
   
-</li>
-        
-          <li class="md-nav__item">
-  <a href="../sdr.IIR.zeros/" class="md-nav__link">
-    <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
-  </a>
   
-</li>
-        
-      </ul>
-    </nav>
   
-</li>
-      
-    </ul>
   
-</nav>
-      
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
     </li>
   
 
@@ -1976,7 +2260,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1984,14 +2268,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -2006,7 +2290,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -2014,14 +2298,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -2036,7 +2320,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -2044,14 +2328,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -2089,7 +2373,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -2097,14 +2381,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -2142,7 +2426,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -2150,14 +2434,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2195,7 +2479,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2203,14 +2487,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2294,7 +2578,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2302,14 +2586,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -6384,6 +6668,13 @@
     <span class="md-ellipsis">Special methods</span>
   </a>
   
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#string-representation" class="md-nav__link">
+    <span class="md-ellipsis">String representation</span>
+  </a>
+  
 </li>
       
         <li class="md-nav__item">
@@ -6454,6 +6745,21 @@ <h2 id="special-methods">Special methods<a class="headerlink" href="#special-met
 <dd><p>Filters the input signal <span class="math notranslate nohighlight">\(x[n]\)</span> with the IIR filter.</p>
 </dd></dl>
 
+<div class="toctree-wrapper compound">
+</div>
+<h2 id="string-representation">String representation<a class="headerlink" href="#string-representation" title="Permalink to this heading">¶</a></h2>
+<dl class="py method summary objdesc">
+<dt class="sig sig-object highlight py">
+<a class="sig-name descname pseudo-toc-entry reference internal" href="../sdr.IIR.__repr__/" title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object."><span class="sig-name descname pseudo-toc-entry"><span class="pre">__repr__</span></span></a><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.11)"><span class="pre">str</span></a></span></span></span></dt>
+<dd><p>Returns a code-styled string representation of the object.</p>
+</dd></dl>
+
+<dl class="py method summary objdesc">
+<dt class="sig sig-object highlight py">
+<a class="sig-name descname pseudo-toc-entry reference internal" href="../sdr.IIR.__str__/" title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object."><span class="sig-name descname pseudo-toc-entry"><span class="pre">__str__</span></span></a><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.11)"><span class="pre">str</span></a></span></span></span></dt>
+<dd><p>Returns a human-readable string representation of the object.</p>
+</dd></dl>
+
 <div class="toctree-wrapper compound">
 </div>
 <h2 id="methods">Methods<a class="headerlink" href="#methods" title="Permalink to this heading">¶</a></h2>
@@ -6568,7 +6874,7 @@ <h2 id="properties">Properties<a class="headerlink" href="#properties" title="Pe
     <nav class="md-footer__inner md-grid" aria-label="Footer" >
       
         
-        <a href="../sdr.FIRInterpolator.taps/" class="md-footer__link md-footer__link--prev" aria-label="Previous: sdr.FIRInterpolator.taps" rel="prev">
+        <a href="../sdr.FIR.taps/" class="md-footer__link md-footer__link--prev" aria-label="Previous: sdr.FIR.taps" rel="prev">
           <div class="md-footer__button md-icon">
             <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
           </div>
@@ -6577,7 +6883,7 @@ <h2 id="properties">Properties<a class="headerlink" href="#properties" title="Pe
               <span class="md-footer__direction">
                 Previous
               </span>
-              sdr.FIRInterpolator.taps
+              sdr.FIR.taps
             </div>
           </div>
         </a>
diff --git a/v0.0.x/api/sdr.LoopFilter.K1/index.html b/v0.0.x/api/sdr.LoopFilter.K1/index.html
index c8dafc01f..48eefa1f9 100644
--- a/v0.0.x/api/sdr.LoopFilter.K1/index.html
+++ b/v0.0.x/api/sdr.LoopFilter.K1/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.LoopFilter.K2/index.html b/v0.0.x/api/sdr.LoopFilter.K2/index.html
index 25e70da07..32836252b 100644
--- a/v0.0.x/api/sdr.LoopFilter.K2/index.html
+++ b/v0.0.x/api/sdr.LoopFilter.K2/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
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         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.LoopFilter.__call__/index.html b/v0.0.x/api/sdr.LoopFilter.__call__/index.html
index 0c2b5c8a2..7f8ea636f 100644
--- a/v0.0.x/api/sdr.LoopFilter.__call__/index.html
+++ b/v0.0.x/api/sdr.LoopFilter.__call__/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
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@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
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         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.LoopFilter.__init__/index.html b/v0.0.x/api/sdr.LoopFilter.__init__/index.html
index cce0b8f8a..e245c4b4d 100644
--- a/v0.0.x/api/sdr.LoopFilter.__init__/index.html
+++ b/v0.0.x/api/sdr.LoopFilter.__init__/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
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     </li>
   
@@ -1491,24 +1717,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.LoopFilter.damping_factor/index.html b/v0.0.x/api/sdr.LoopFilter.damping_factor/index.html
index 1fb7616fe..259b8df1c 100644
--- a/v0.0.x/api/sdr.LoopFilter.damping_factor/index.html
+++ b/v0.0.x/api/sdr.LoopFilter.damping_factor/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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@@ -1937,14 +2194,14 @@
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-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
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@@ -1982,7 +2239,7 @@
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@@ -1990,14 +2247,14 @@
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-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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           <span class="md-ellipsis">Properties</span>
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
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diff --git a/v0.0.x/api/sdr.LoopFilter.iir/index.html b/v0.0.x/api/sdr.LoopFilter.iir/index.html
index 7e1575551..add75d39f 100644
--- a/v0.0.x/api/sdr.LoopFilter.iir/index.html
+++ b/v0.0.x/api/sdr.LoopFilter.iir/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
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@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
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@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
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           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
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         </label>
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@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
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-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
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-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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@@ -1831,14 +2088,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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@@ -1884,14 +2141,14 @@
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-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.LoopFilter.noise_bandwidth/index.html b/v0.0.x/api/sdr.LoopFilter.noise_bandwidth/index.html
index 10abbca5c..1e2e67447 100644
--- a/v0.0.x/api/sdr.LoopFilter.noise_bandwidth/index.html
+++ b/v0.0.x/api/sdr.LoopFilter.noise_bandwidth/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
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@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.LoopFilter.reset/index.html b/v0.0.x/api/sdr.LoopFilter.reset/index.html
index ce1a1c0ef..f36dd0023 100644
--- a/v0.0.x/api/sdr.LoopFilter.reset/index.html
+++ b/v0.0.x/api/sdr.LoopFilter.reset/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.LoopFilter/index.html b/v0.0.x/api/sdr.LoopFilter/index.html
index 6d24d9f88..76dbdd1d0 100644
--- a/v0.0.x/api/sdr.LoopFilter/index.html
+++ b/v0.0.x/api/sdr.LoopFilter/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
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@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1579,8 +1813,8 @@
   
   
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-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
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-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
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+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
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+          <span class="md-ellipsis">Properties</span>
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+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
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@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
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@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
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@@ -1763,7 +2020,7 @@
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@@ -1771,14 +2028,14 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1831,14 +2088,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
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+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
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index e07f1950c..7847ef934 100644
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+++ b/v0.0.x/api/sdr.NCO.K0/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
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+
+            
+          
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+  
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+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
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@@ -947,14 +1015,14 @@
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-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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           <span class="md-ellipsis">Properties</span>
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@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
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               <span class="md-nav__icon md-icon"></span>
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         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
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@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1579,8 +1813,8 @@
   
   
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-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
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           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
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@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
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-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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@@ -1831,14 +2088,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
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diff --git a/v0.0.x/api/sdr.NCO.__call__/index.html b/v0.0.x/api/sdr.NCO.__call__/index.html
index ef4c20ba6..445afe8f9 100644
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+++ b/v0.0.x/api/sdr.NCO.__call__/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.NCO.__init__/index.html b/v0.0.x/api/sdr.NCO.__init__/index.html
index d9c93e07e..c6f48c208 100644
--- a/v0.0.x/api/sdr.NCO.__init__/index.html
+++ b/v0.0.x/api/sdr.NCO.__init__/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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           <span class="md-ellipsis">Constructors</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
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@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.NCO.increment/index.html b/v0.0.x/api/sdr.NCO.increment/index.html
index 3653c9f5b..be23d5ef4 100644
--- a/v0.0.x/api/sdr.NCO.increment/index.html
+++ b/v0.0.x/api/sdr.NCO.increment/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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@@ -1771,14 +2028,14 @@
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-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.NCO.offset/index.html b/v0.0.x/api/sdr.NCO.offset/index.html
index 1d690632c..5d85b7435 100644
--- a/v0.0.x/api/sdr.NCO.offset/index.html
+++ b/v0.0.x/api/sdr.NCO.offset/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.NCO.reset/index.html b/v0.0.x/api/sdr.NCO.reset/index.html
index 76b9047a9..fd685635f 100644
--- a/v0.0.x/api/sdr.NCO.reset/index.html
+++ b/v0.0.x/api/sdr.NCO.reset/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
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@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
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+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
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+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
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     </li>
@@ -1763,7 +2020,7 @@
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@@ -1771,14 +2028,14 @@
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-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
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+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1831,14 +2088,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
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index 7655e34db..b887e9aab 100644
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+++ b/v0.0.x/api/sdr.NCO.step/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
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@@ -947,14 +1015,14 @@
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-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
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               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.NCO/index.html b/v0.0.x/api/sdr.NCO/index.html
index 83f2aa2f7..8db6385d1 100644
--- a/v0.0.x/api/sdr.NCO/index.html
+++ b/v0.0.x/api/sdr.NCO/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.PSK.__init__/index.html b/v0.0.x/api/sdr.PSK.__init__/index.html
index 904483e5d..5c42d01d8 100644
--- a/v0.0.x/api/sdr.PSK.__init__/index.html
+++ b/v0.0.x/api/sdr.PSK.__init__/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
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@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.PSK.ber/index.html b/v0.0.x/api/sdr.PSK.ber/index.html
index 1ba0e7260..19988ef79 100644
--- a/v0.0.x/api/sdr.PSK.ber/index.html
+++ b/v0.0.x/api/sdr.PSK.ber/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
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-      
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-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
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-            <label for="__nav_3_1_2_1_1">
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@@ -1884,14 +2141,14 @@
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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           <span class="md-ellipsis">Properties</span>
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.PSK.bps/index.html b/v0.0.x/api/sdr.PSK.bps/index.html
index 4c36cab44..994c014ce 100644
--- a/v0.0.x/api/sdr.PSK.bps/index.html
+++ b/v0.0.x/api/sdr.PSK.bps/index.html
@@ -827,7 +827,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -835,8 +835,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -934,7 +1002,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -942,14 +1010,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1046,7 +1114,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1054,10 +1122,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1076,7 +1144,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1098,8 +1166,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1129,7 +1212,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1151,8 +1234,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1182,7 +1265,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1190,10 +1273,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1204,8 +1287,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1235,7 +1333,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1243,10 +1341,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1257,8 +1355,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1272,8 +1370,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1287,8 +1385,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1302,18 +1400,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1335,24 +1440,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1361,30 +1466,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1393,8 +1513,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1408,8 +1528,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1424,6 +1574,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1433,24 +1599,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1461,8 +1687,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1486,24 +1712,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1514,26 +1740,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1542,15 +1761,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1559,8 +1793,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1574,8 +1808,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1599,24 +1833,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1627,26 +1861,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1655,15 +1882,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1672,8 +1914,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1687,8 +1929,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1702,8 +1944,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1717,8 +1959,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1741,6 +1983,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1758,7 +2015,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1766,14 +2023,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1788,7 +2045,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1796,14 +2053,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1818,7 +2075,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1826,14 +2083,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1871,7 +2128,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1879,14 +2136,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1924,7 +2181,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1932,14 +2189,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1977,7 +2234,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1985,14 +2242,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2076,7 +2333,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2084,14 +2341,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.PSK.demodulate/index.html b/v0.0.x/api/sdr.PSK.demodulate/index.html
index 184b1d9ae..bc2637002 100644
--- a/v0.0.x/api/sdr.PSK.demodulate/index.html
+++ b/v0.0.x/api/sdr.PSK.demodulate/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
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               <span class="md-nav__icon md-icon"></span>
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         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.PSK.modulate/index.html b/v0.0.x/api/sdr.PSK.modulate/index.html
index 3859bcbb9..75688fd11 100644
--- a/v0.0.x/api/sdr.PSK.modulate/index.html
+++ b/v0.0.x/api/sdr.PSK.modulate/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.PSK.order/index.html b/v0.0.x/api/sdr.PSK.order/index.html
index d27945223..b5d90144e 100644
--- a/v0.0.x/api/sdr.PSK.order/index.html
+++ b/v0.0.x/api/sdr.PSK.order/index.html
@@ -827,7 +827,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -835,8 +835,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -934,7 +1002,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -942,14 +1010,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1046,7 +1114,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1054,10 +1122,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1076,7 +1144,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1098,8 +1166,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1129,7 +1212,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1151,8 +1234,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1182,7 +1265,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1190,10 +1273,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1204,8 +1287,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1235,7 +1333,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1243,10 +1341,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1257,8 +1355,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1272,8 +1370,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1287,8 +1385,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1302,18 +1400,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1335,24 +1440,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1361,30 +1466,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1393,8 +1513,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1408,8 +1528,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1424,6 +1574,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1433,24 +1599,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1461,8 +1687,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
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@@ -1486,24 +1712,24 @@
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
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               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1514,26 +1740,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1542,15 +1761,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1559,8 +1793,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
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@@ -1574,8 +1808,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1599,24 +1833,24 @@
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
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         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
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@@ -1627,26 +1861,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1655,15 +1882,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1672,8 +1914,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1687,8 +1929,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1702,8 +1944,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1717,8 +1959,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1741,6 +1983,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1758,7 +2015,7 @@
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@@ -1766,14 +2023,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1826,14 +2083,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
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@@ -1879,14 +2136,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1932,14 +2189,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1985,14 +2242,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2084,14 +2341,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
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+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.PSK.phase_offset/index.html b/v0.0.x/api/sdr.PSK.phase_offset/index.html
index a8a7926ea..ae82e4274 100644
--- a/v0.0.x/api/sdr.PSK.phase_offset/index.html
+++ b/v0.0.x/api/sdr.PSK.phase_offset/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
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@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.PSK.ser/index.html b/v0.0.x/api/sdr.PSK.ser/index.html
index 9cbada1e8..fc1486e3a 100644
--- a/v0.0.x/api/sdr.PSK.ser/index.html
+++ b/v0.0.x/api/sdr.PSK.ser/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
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-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1831,14 +2088,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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@@ -1876,7 +2133,7 @@
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
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-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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@@ -1929,7 +2186,7 @@
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
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           <span class="md-ellipsis">Methods</span>
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@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.PSK.symbol_map/index.html b/v0.0.x/api/sdr.PSK.symbol_map/index.html
index fc0f69cf9..4d65becb0 100644
--- a/v0.0.x/api/sdr.PSK.symbol_map/index.html
+++ b/v0.0.x/api/sdr.PSK.symbol_map/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.PSK/index.html b/v0.0.x/api/sdr.PSK/index.html
index 433dae171..26dd741e7 100644
--- a/v0.0.x/api/sdr.PSK/index.html
+++ b/v0.0.x/api/sdr.PSK/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.Q/index.html b/v0.0.x/api/sdr.Q/index.html
index 95ca121fc..b4745b9f5 100644
--- a/v0.0.x/api/sdr.Q/index.html
+++ b/v0.0.x/api/sdr.Q/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
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+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.Qinv/index.html b/v0.0.x/api/sdr.Qinv/index.html
index 7c0fbe61b..0d8f46314 100644
--- a/v0.0.x/api/sdr.Qinv/index.html
+++ b/v0.0.x/api/sdr.Qinv/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
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+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
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               <span class="md-nav__icon md-icon"></span>
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         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
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-          <span class="md-ellipsis">Methods</span>
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         </label>
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@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
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           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
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-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.average_power/index.html b/v0.0.x/api/sdr.average_power/index.html
index 5bfa19546..5ce79c300 100644
--- a/v0.0.x/api/sdr.average_power/index.html
+++ b/v0.0.x/api/sdr.average_power/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.awgn/index.html b/v0.0.x/api/sdr.awgn/index.html
index 44716d85c..eb122a62d 100644
--- a/v0.0.x/api/sdr.awgn/index.html
+++ b/v0.0.x/api/sdr.awgn/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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           <span class="md-ellipsis">Special methods</span>
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
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@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.awgn_capacity/index.html b/v0.0.x/api/sdr.awgn_capacity/index.html
index e9e9f0876..ca16878d4 100644
--- a/v0.0.x/api/sdr.awgn_capacity/index.html
+++ b/v0.0.x/api/sdr.awgn_capacity/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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@@ -1771,14 +2028,14 @@
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-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.barker/index.html b/v0.0.x/api/sdr.barker/index.html
index 7f7fba63c..c53777a0e 100644
--- a/v0.0.x/api/sdr.barker/index.html
+++ b/v0.0.x/api/sdr.barker/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.bec/index.html b/v0.0.x/api/sdr.bec/index.html
index 9f5d9405c..922040511 100644
--- a/v0.0.x/api/sdr.bec/index.html
+++ b/v0.0.x/api/sdr.bec/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
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@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
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+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
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@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
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@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
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@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
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           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
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-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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             </label>
           
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -6298,18 +6555,18 @@
 <p>When 20 bits are passed through a BEC with erasure probability <span class="math notranslate nohighlight">\(p=0.25\)</span>,
 roughly 5 bits are erased at the output.</p>
 <div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [1]: </span><span class="n">x</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">randint</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="mi">20</span><span class="p">);</span> <span class="n">x</span>
-<span class="gh">Out[1]: </span><span class="go">array([1, 0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1])</span>
+<span class="gh">Out[1]: </span><span class="go">array([1, 0, 0, 0, 1, 0, 1, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 1, 1])</span>
 
 <span class="gp">In [2]: </span><span class="n">y</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">bec</span><span class="p">(</span><span class="n">x</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">);</span> <span class="n">y</span>
 <span class="gh">Out[2]: </span>
-<span class="go">array([-1,  0, -1, -1, -1,  1,  0,  1,  1,  0, -1,  0,  0, -1,  1,  1,  0,</span>
-<span class="go">        1, -1,  1])</span>
+<span class="go">array([ 1,  0,  0,  0, -1,  0,  1, -1,  0,  1,  0,  1, -1,  1,  1,  1, -1,</span>
+<span class="go">        0,  1,  1])</span>
 
 <span class="gp">In [3]: </span><span class="n">x</span> <span class="o">==</span> <span class="n">y</span>
 <span class="gh">Out[3]: </span>
-<span class="go">array([False,  True, False, False, False,  True,  True,  True,  True,</span>
-<span class="go">        True, False,  True,  True, False,  True,  True,  True,  True,</span>
-<span class="go">       False,  True])</span>
+<span class="go">array([ True,  True,  True,  True, False,  True,  True, False,  True,</span>
+<span class="go">        True,  True,  True, False,  True,  True,  True, False,  True,</span>
+<span class="go">        True,  True])</span>
 </code></pre></div>
 </div>
 </dd></dl>
diff --git a/v0.0.x/api/sdr.bec_capacity/index.html b/v0.0.x/api/sdr.bec_capacity/index.html
index ba08cba21..ae514c08b 100644
--- a/v0.0.x/api/sdr.bec_capacity/index.html
+++ b/v0.0.x/api/sdr.bec_capacity/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.binary_code/index.html b/v0.0.x/api/sdr.binary_code/index.html
index 16f4cbc5e..0732787c5 100644
--- a/v0.0.x/api/sdr.binary_code/index.html
+++ b/v0.0.x/api/sdr.binary_code/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.bsc/index.html b/v0.0.x/api/sdr.bsc/index.html
index db38c6ad4..bd43f5909 100644
--- a/v0.0.x/api/sdr.bsc/index.html
+++ b/v0.0.x/api/sdr.bsc/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1884,14 +2141,14 @@
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@@ -1937,14 +2194,14 @@
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-            <label for="__nav_3_1_2_1_3">
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@@ -1990,14 +2247,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
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           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -6298,16 +6555,16 @@
 <p>When 20 bits are passed through a BSC with transition probability <span class="math notranslate nohighlight">\(p=0.25\)</span>,
 roughly 5 bits are flipped at the output.</p>
 <div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [1]: </span><span class="n">x</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">randint</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="mi">20</span><span class="p">);</span> <span class="n">x</span>
-<span class="gh">Out[1]: </span><span class="go">array([0, 0, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0])</span>
+<span class="gh">Out[1]: </span><span class="go">array([1, 1, 1, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 1])</span>
 
 <span class="gp">In [2]: </span><span class="n">y</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">bsc</span><span class="p">(</span><span class="n">x</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">);</span> <span class="n">y</span>
-<span class="gh">Out[2]: </span><span class="go">array([0, 0, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1, 1, 0, 1, 0])</span>
+<span class="gh">Out[2]: </span><span class="go">array([1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0])</span>
 
 <span class="gp">In [3]: </span><span class="n">x</span> <span class="o">==</span> <span class="n">y</span>
 <span class="gh">Out[3]: </span>
-<span class="go">array([ True,  True,  True,  True,  True,  True,  True,  True,  True,</span>
-<span class="go">        True,  True, False,  True, False, False,  True,  True,  True,</span>
-<span class="go">        True,  True])</span>
+<span class="go">array([ True,  True, False,  True,  True, False, False, False,  True,</span>
+<span class="go">       False, False,  True,  True,  True,  True,  True,  True,  True,</span>
+<span class="go">        True, False])</span>
 </code></pre></div>
 </div>
 </dd></dl>
diff --git a/v0.0.x/api/sdr.bsc_capacity/index.html b/v0.0.x/api/sdr.bsc_capacity/index.html
index f1263e1fa..0a0cb7779 100644
--- a/v0.0.x/api/sdr.bsc_capacity/index.html
+++ b/v0.0.x/api/sdr.bsc_capacity/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
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               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
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+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
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+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
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@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
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@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.crest_factor/index.html b/v0.0.x/api/sdr.crest_factor/index.html
index df057df26..1a0e33e4a 100644
--- a/v0.0.x/api/sdr.crest_factor/index.html
+++ b/v0.0.x/api/sdr.crest_factor/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.db/index.html b/v0.0.x/api/sdr.db/index.html
index 6029be133..7ab790e92 100644
--- a/v0.0.x/api/sdr.db/index.html
+++ b/v0.0.x/api/sdr.db/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.diff_decode/index.html b/v0.0.x/api/sdr.diff_decode/index.html
index 0add98fb2..2e001b474 100644
--- a/v0.0.x/api/sdr.diff_decode/index.html
+++ b/v0.0.x/api/sdr.diff_decode/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.diff_encode/index.html b/v0.0.x/api/sdr.diff_encode/index.html
index cb1ef0798..fb964ecf5 100644
--- a/v0.0.x/api/sdr.diff_encode/index.html
+++ b/v0.0.x/api/sdr.diff_encode/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.dmc/index.html b/v0.0.x/api/sdr.dmc/index.html
index 8164c767a..9ecc82e11 100644
--- a/v0.0.x/api/sdr.dmc/index.html
+++ b/v0.0.x/api/sdr.dmc/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,14 +1533,60 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
       </a>
     </li>
   
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
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         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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+        <label class="md-nav__title" for="__nav_3_1_3_1">
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           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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           <span class="md-ellipsis">Constructors</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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           <span class="md-ellipsis">Special methods</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
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+            <label for="__nav_3_1_3_1_3">
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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           <span class="md-ellipsis">Properties</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -6333,38 +6590,38 @@
 <div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [1]: </span><span class="n">p</span> <span class="o">=</span> <span class="mf">0.25</span>
 
 <span class="gp">In [2]: </span><span class="n">x</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">randint</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="mi">20</span><span class="p">);</span> <span class="n">x</span>
-<span class="gh">Out[2]: </span><span class="go">array([0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 1, 0, 0, 0, 1, 1, 0, 1, 0, 1])</span>
+<span class="gh">Out[2]: </span><span class="go">array([1, 1, 1, 1, 0, 0, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 1, 0])</span>
 
 <span class="gp">In [3]: </span><span class="n">P</span> <span class="o">=</span> <span class="p">[[</span><span class="mi">1</span> <span class="o">-</span> <span class="n">p</span><span class="p">,</span> <span class="n">p</span><span class="p">],</span> <span class="p">[</span><span class="n">p</span><span class="p">,</span> <span class="mi">1</span> <span class="o">-</span> <span class="n">p</span><span class="p">]]</span>
 
 <span class="gp">In [4]: </span><span class="n">y</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">dmc</span><span class="p">(</span><span class="n">x</span><span class="p">,</span> <span class="n">P</span><span class="p">);</span> <span class="n">y</span>
-<span class="gh">Out[4]: </span><span class="go">array([0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 0, 0])</span>
+<span class="gh">Out[4]: </span><span class="go">array([1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0])</span>
 
 <span class="gp">In [5]: </span><span class="n">x</span> <span class="o">==</span> <span class="n">y</span>
 <span class="gh">Out[5]: </span>
-<span class="go">array([ True,  True,  True,  True,  True,  True,  True,  True,  True,</span>
-<span class="go">        True,  True,  True, False,  True,  True, False,  True,  True,</span>
-<span class="go">        True, False])</span>
+<span class="go">array([ True,  True,  True,  True,  True,  True, False,  True,  True,</span>
+<span class="go">        True,  True,  True,  True,  True,  True,  True,  True, False,</span>
+<span class="go">        True,  True])</span>
 </code></pre></div>
 </div>
 <p>Define the binary erasure channel (BEC) with erasure probability <span class="math notranslate nohighlight">\(p=0.25\)</span>.</p>
 <div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [6]: </span><span class="n">p</span> <span class="o">=</span> <span class="mf">0.25</span>
 
 <span class="gp">In [7]: </span><span class="n">x</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">randint</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="mi">20</span><span class="p">);</span> <span class="n">x</span>
-<span class="gh">Out[7]: </span><span class="go">array([0, 1, 0, 0, 1, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1])</span>
+<span class="gh">Out[7]: </span><span class="go">array([1, 0, 1, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 0, 0, 1, 0, 1, 1, 1])</span>
 
 <span class="gp">In [8]: </span><span class="n">P</span> <span class="o">=</span> <span class="p">[[</span><span class="mi">1</span> <span class="o">-</span> <span class="n">p</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="n">p</span><span class="p">],</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span> <span class="o">-</span> <span class="n">p</span><span class="p">,</span> <span class="n">p</span><span class="p">]]</span>
 
 <span class="go"># Specify the erasure as -1</span>
 <span class="gp">In [9]: </span><span class="n">y</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">dmc</span><span class="p">(</span><span class="n">x</span><span class="p">,</span> <span class="n">P</span><span class="p">,</span> <span class="n">Y</span><span class="o">=</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">]);</span> <span class="n">y</span>
 <span class="gh">Out[9]: </span>
-<span class="go">array([ 0,  1, -1,  0,  1, -1,  0,  1,  0,  1,  0,  1,  0,  0,  0,  0,  0,</span>
-<span class="go">        0,  0,  1])</span>
+<span class="go">array([ 1,  0,  1,  0,  1, -1,  0,  0,  1, -1,  0,  0,  1,  0, -1,  1,  0,</span>
+<span class="go">        1,  1,  1])</span>
 
 <span class="gp">In [10]: </span><span class="n">x</span> <span class="o">==</span> <span class="n">y</span>
 <span class="gh">Out[10]: </span>
-<span class="go">array([ True,  True, False,  True,  True, False,  True,  True,  True,</span>
-<span class="go">        True,  True,  True,  True,  True,  True,  True,  True,  True,</span>
+<span class="go">array([ True,  True,  True,  True,  True, False,  True,  True,  True,</span>
+<span class="go">       False,  True,  True,  True,  True, False,  True,  True,  True,</span>
 <span class="go">        True,  True])</span>
 </code></pre></div>
 </div>
diff --git a/v0.0.x/api/sdr.ebn0_to_esn0/index.html b/v0.0.x/api/sdr.ebn0_to_esn0/index.html
index 42b9de68e..93fcda45c 100644
--- a/v0.0.x/api/sdr.ebn0_to_esn0/index.html
+++ b/v0.0.x/api/sdr.ebn0_to_esn0/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
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         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.ebn0_to_snr/index.html b/v0.0.x/api/sdr.ebn0_to_snr/index.html
index 2612ce28d..166358e3e 100644
--- a/v0.0.x/api/sdr.ebn0_to_snr/index.html
+++ b/v0.0.x/api/sdr.ebn0_to_snr/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
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@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.energy/index.html b/v0.0.x/api/sdr.energy/index.html
index f987ec765..e55b77bee 100644
--- a/v0.0.x/api/sdr.energy/index.html
+++ b/v0.0.x/api/sdr.energy/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.esn0_to_ebn0/index.html b/v0.0.x/api/sdr.esn0_to_ebn0/index.html
index 166399260..16e608346 100644
--- a/v0.0.x/api/sdr.esn0_to_ebn0/index.html
+++ b/v0.0.x/api/sdr.esn0_to_ebn0/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.esn0_to_snr/index.html b/v0.0.x/api/sdr.esn0_to_snr/index.html
index 4df5bf2fd..2ded4056b 100644
--- a/v0.0.x/api/sdr.esn0_to_snr/index.html
+++ b/v0.0.x/api/sdr.esn0_to_snr/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
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@@ -1763,7 +2020,7 @@
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@@ -1771,14 +2028,14 @@
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+        <label class="md-nav__title" for="__nav_3_1_3">
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@@ -1801,14 +2058,14 @@
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-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
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           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1831,14 +2088,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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           <span class="md-ellipsis">Constructors</span>
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
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@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.evm/index.html b/v0.0.x/api/sdr.evm/index.html
index 6e01a67a8..0b0db2b83 100644
--- a/v0.0.x/api/sdr.evm/index.html
+++ b/v0.0.x/api/sdr.evm/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -6370,25 +6627,25 @@
 <p>Measure the RMS EVM, normalizing with the average power of the reference symbols.
 Either the symbol map or noiseless transmitted symbols may be passed.</p>
 <div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [3]: </span><span class="n">sdr</span><span class="o">.</span><span class="n">evm</span><span class="p">(</span><span class="n">x_hat</span><span class="p">,</span> <span class="n">psk</span><span class="o">.</span><span class="n">symbol_map</span><span class="p">)</span>
-<span class="gh">Out[3]: </span><span class="go">10.018776651409473</span>
+<span class="gh">Out[3]: </span><span class="go">9.85288179004344</span>
 
 <span class="gp">In [4]: </span><span class="n">sdr</span><span class="o">.</span><span class="n">evm</span><span class="p">(</span><span class="n">x_hat</span><span class="p">,</span> <span class="n">x</span><span class="p">)</span>
-<span class="gh">Out[4]: </span><span class="go">10.018776651409473</span>
+<span class="gh">Out[4]: </span><span class="go">9.85288179004344</span>
 </code></pre></div>
 </div>
 <p>Measure the RMS EVM, normalizing with the average power of the received symbols.</p>
 <div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [5]: </span><span class="n">sdr</span><span class="o">.</span><span class="n">evm</span><span class="p">(</span><span class="n">x_hat</span><span class="p">,</span> <span class="n">psk</span><span class="o">.</span><span class="n">symbol_map</span><span class="p">,</span> <span class="n">norm</span><span class="o">=</span><span class="s2">&quot;average-power&quot;</span><span class="p">)</span>
-<span class="gh">Out[5]: </span><span class="go">9.975932782774793</span>
+<span class="gh">Out[5]: </span><span class="go">9.792523995980586</span>
 </code></pre></div>
 </div>
 <p>Measure the RMS EVM, normalizing with the peak power of the received symbols.</p>
 <div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [6]: </span><span class="n">sdr</span><span class="o">.</span><span class="n">evm</span><span class="p">(</span><span class="n">x_hat</span><span class="p">,</span> <span class="n">psk</span><span class="o">.</span><span class="n">symbol_map</span><span class="p">,</span> <span class="n">norm</span><span class="o">=</span><span class="s2">&quot;peak-power&quot;</span><span class="p">)</span>
-<span class="gh">Out[6]: </span><span class="go">8.173274470345234</span>
+<span class="gh">Out[6]: </span><span class="go">8.211606894088039</span>
 </code></pre></div>
 </div>
 <p>Measure the 95th percentile EVM.</p>
 <div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [7]: </span><span class="n">sdr</span><span class="o">.</span><span class="n">evm</span><span class="p">(</span><span class="n">x_hat</span><span class="p">,</span> <span class="n">psk</span><span class="o">.</span><span class="n">symbol_map</span><span class="p">,</span> <span class="n">output</span><span class="o">=</span><span class="mi">95</span><span class="p">)</span>
-<span class="gh">Out[7]: </span><span class="go">17.67228389544238</span>
+<span class="gh">Out[7]: </span><span class="go">16.988301204046998</span>
 </code></pre></div>
 </div>
 <p>Measure the instantaneous EVM for each symbol.</p>
diff --git a/v0.0.x/api/sdr.frequency_offset/index.html b/v0.0.x/api/sdr.frequency_offset/index.html
index 55d178a0b..d8494425e 100644
--- a/v0.0.x/api/sdr.frequency_offset/index.html
+++ b/v0.0.x/api/sdr.frequency_offset/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.fspl/index.html b/v0.0.x/api/sdr.fspl/index.html
index b0611f9de..5f0e8185c 100644
--- a/v0.0.x/api/sdr.fspl/index.html
+++ b/v0.0.x/api/sdr.fspl/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.gaussian/index.html b/v0.0.x/api/sdr.gaussian/index.html
index 99f965af1..3dd096adf 100644
--- a/v0.0.x/api/sdr.gaussian/index.html
+++ b/v0.0.x/api/sdr.gaussian/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.gray_code/index.html b/v0.0.x/api/sdr.gray_code/index.html
index b1324fe1d..fa1fe73a7 100644
--- a/v0.0.x/api/sdr.gray_code/index.html
+++ b/v0.0.x/api/sdr.gray_code/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
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-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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           <span class="md-ellipsis">Constructors</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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           <span class="md-ellipsis">Special methods</span>
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@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.hexdump/index.html b/v0.0.x/api/sdr.hexdump/index.html
index b36e244ce..bf4f26c1a 100644
--- a/v0.0.x/api/sdr.hexdump/index.html
+++ b/v0.0.x/api/sdr.hexdump/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
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@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
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     </li>
@@ -1763,7 +2020,7 @@
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@@ -1771,14 +2028,14 @@
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-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.iq_imbalance/index.html b/v0.0.x/api/sdr.iq_imbalance/index.html
index 1dfcef405..eda8a03d1 100644
--- a/v0.0.x/api/sdr.iq_imbalance/index.html
+++ b/v0.0.x/api/sdr.iq_imbalance/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.linear/index.html b/v0.0.x/api/sdr.linear/index.html
index 6b2b53566..e7d1e30f3 100644
--- a/v0.0.x/api/sdr.linear/index.html
+++ b/v0.0.x/api/sdr.linear/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
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+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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           <span class="md-ellipsis">Properties</span>
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.mix/index.html b/v0.0.x/api/sdr.mix/index.html
index 6a80022e6..ffb6ffca3 100644
--- a/v0.0.x/api/sdr.mix/index.html
+++ b/v0.0.x/api/sdr.mix/index.html
@@ -834,7 +834,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -842,8 +842,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -941,7 +1009,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -949,14 +1017,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1053,7 +1121,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1061,10 +1129,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1083,7 +1151,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1105,8 +1173,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1136,7 +1219,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1158,8 +1241,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1189,7 +1272,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1197,10 +1280,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1211,8 +1294,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1242,7 +1340,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1250,10 +1348,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1264,8 +1362,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1279,8 +1377,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1294,8 +1392,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1309,19 +1407,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
   
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1342,24 +1447,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1368,30 +1473,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1400,8 +1520,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1415,8 +1535,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1431,6 +1581,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1440,24 +1606,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1468,8 +1694,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1493,24 +1719,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1521,26 +1747,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1549,15 +1768,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1566,8 +1800,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1581,8 +1815,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1606,24 +1840,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
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         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1634,26 +1868,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1662,15 +1889,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1679,8 +1921,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1694,8 +1936,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1709,8 +1951,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1724,8 +1966,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1748,6 +1990,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1765,7 +2022,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1773,14 +2030,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1795,7 +2052,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1803,14 +2060,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1825,7 +2082,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1833,14 +2090,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1886,14 +2143,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1939,14 +2196,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1984,7 +2241,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1992,14 +2249,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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           <span class="md-ellipsis">Properties</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" checked>
       
       
       
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         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.multirate_fir/index.html b/v0.0.x/api/sdr.multirate_fir/index.html
new file mode 100644
index 000000000..8cde45a69
--- /dev/null
+++ b/v0.0.x/api/sdr.multirate_fir/index.html
@@ -0,0 +1,6758 @@
+
+
+<!doctype html>
+<html lang="en" class="no-js">
+  <head>
+    
+      <meta charset="utf-8">
+      <meta name="viewport" content="width=device-width,initial-scale=1">
+      
+      
+      
+      <link rel="icon" href="">
+    
+    
+      
+        <title>sdr.multirate_fir - sdr</title>
+      
+    
+    
+      
+        
+        
+      
+      
+
+    
+    
+    
+      
+        
+        
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+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../examples/peak-to-average-power/" class="md-nav__link">
+        <span class="md-ellipsis">Peak-<wbr>to-<wbr>average power</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../examples/fir-filters/" class="md-nav__link">
+        <span class="md-ellipsis">FIR filters</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../examples/iir-filters/" class="md-nav__link">
+        <span class="md-ellipsis">IIR filters</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../examples/farrow-resampler/" class="md-nav__link">
+        <span class="md-ellipsis">Farrow arbitrary resampler</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../examples/psk/" class="md-nav__link">
+        <span class="md-ellipsis">Phase-<wbr>shift keying</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../examples/phase-locked-loop/" class="md-nav__link">
+        <span class="md-ellipsis">Phase-<wbr>locked loops</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
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+    <li class="md-nav__item">
+      <a href="../../development/linter/" class="md-nav__link">
+        <span class="md-ellipsis">Linter</span>
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+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../development/unit-tests/" class="md-nav__link">
+        <span class="md-ellipsis">Unit Tests</span>
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/"><span class="md-ellipsis">Digital signal processing</span></a>
+          
+            <label for="__nav_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Digital signal processing" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Digital signal processing</span>
+        </label>
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#filtering"><span class="md-ellipsis">Filtering</span></a>
+          
+            <label for="__nav_3_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1" type="checkbox" id="__nav_3_1_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIR (Python class) — Implements a finite impulse response (FIR) filter." class="md-ellipsis">FIR</span></a>
+          
+            <label for="__nav_3_1_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIR" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIR (Python class) — Implements a finite impulse response (FIR) filter." class="md-ellipsis">FIR</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_1" type="checkbox" id="__nav_3_1_1_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_1_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__init__ (Python method) — Creates a FIR filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_2" type="checkbox" id="__nav_3_1_1_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_1_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__call__ (Python method) — Filters the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__len__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__len__ (Python method) — Returns the filter length $N$." class="md-ellipsis">__<wbr>len__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_3" type="checkbox" id="__nav_3_1_1_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_1_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the FIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the FIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the FIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.step_response (Python method) — Returns the step response $s[n]$ of the FIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.delay/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.delay (Python property) — The delay of the FIR filter in samples." class="md-ellipsis">delay</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.order (Python property) — The order of the FIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIR.taps (Python property) — The feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2" type="checkbox" id="__nav_3_1_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          
+            <label for="__nav_3_1_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_1" type="checkbox" id="__nav_3_1_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_2" type="checkbox" id="__nav_3_1_1_2_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_1_2_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_3" type="checkbox" id="__nav_3_1_1_2_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_1_2_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_4" type="checkbox" id="__nav_3_1_1_2_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+  
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" checked>
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
+          
+            <label for="__nav_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_2_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+    
+  
+    
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      
+      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="#" class="md-nav__link md-nav__link--active">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary">
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      Table of contents
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#parameters" class="md-nav__link">
+    <span class="md-ellipsis">Parameters</span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Parameters">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#p-P" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.multirate_fir.P (Python parameter) — The interpolation rate $P$." class="md-ellipsis">P</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-Q" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.multirate_fir.Q (Python parameter) — The decimation rate $Q$." class="md-ellipsis">Q</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-half_length" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.multirate_fir.half_length (Python parameter) — The half-length of the polyphase filters." class="md-ellipsis">half_<wbr>length</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-A_stop" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.multirate_fir.A_stop (Python parameter) — The stopband attenuation $A_{text{stop}}$ in dB." class="md-ellipsis">A_<wbr>stop</span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#returns" class="md-nav__link">
+    <span class="md-ellipsis">Returns</span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#references" class="md-nav__link">
+    <span class="md-ellipsis">References</span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
+          
+            <label for="__nav_3_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Resampling" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Resampling</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
+          
+            <label for="__nav_3_1_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_3_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.__init__ (Python method) — Creates a new Farrow arbitrary resampler." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_1_3_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.__call__ (Python method) — Resamples the input signal $x[n]$ by the given arbitrary rate $r$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_3_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FarrowResampler.reset (Python method) — Streaming-mode only: Resets the filter state and fractional sample index." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_3_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.order (Python property) — The order of the filter." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FarrowResampler.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FarrowResampler.taps (Python property) — The Farrow filter taps." class="md-ellipsis">taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
+          
+            <label for="__nav_3_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Signal manipulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.mix/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.mix (Python function) — Mixes the time-domain signal $x[n]$ with a complex exponential." class="md-ellipsis">mix</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.to_complex_bb/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.to_complex_bb (Python function) — Converts the real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r}$ to a complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c} = f_{s,r}/2$." class="md-ellipsis">to_<wbr>complex_<wbr>bb</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.to_real_pb/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.to_real_pb (Python function) — Converts the complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c}$ to a real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r} = 2f_{s,c}$." class="md-ellipsis">to_<wbr>real_<wbr>pb</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_2" type="checkbox" id="__nav_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sequences/"><span class="md-ellipsis">Sequences</span></a>
+          
+            <label for="__nav_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Sequences" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Sequences</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.barker/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.barker (Python function) — Returns the Barker code/sequence of length $N$." class="md-ellipsis">barker</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.zadoff_chu/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.zadoff_chu (Python function) — Returns the root-$u$ Zadoff-Chu sequence of length $N$." class="md-ellipsis">zadoff_<wbr>chu</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3" type="checkbox" id="__nav_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/"><span class="md-ellipsis">Modulation</span></a>
+          
+            <label for="__nav_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Modulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Modulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1" type="checkbox" id="__nav_3_3_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#classes"><span class="md-ellipsis">Classes</span></a>
+          
+            <label for="__nav_3_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Classes" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Classes</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1" type="checkbox" id="__nav_3_3_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.PSK (Python class) — Implements phase-shift keying (PSK) modulation and demodulation." class="md-ellipsis">PSK</span></a>
+          
+            <label for="__nav_3_3_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="PSK" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_3_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.PSK (Python class) — Implements phase-shift keying (PSK) modulation and demodulation." class="md-ellipsis">PSK</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_1" type="checkbox" id="__nav_3_3_1_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_3_1_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.__init__ (Python method) — Creates a new PSK object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_2" type="checkbox" id="__nav_3_3_1_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_3_1_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.ber/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.ber (Python method) — Computes the bit error rate (BER) at the provided $E_b/N_0$ values." class="md-ellipsis">ber</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.demodulate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.demodulate (Python method) — Demodulates the complex symbols $hat{x}[k]$ to decimal symbols $hat{s}[k]$ using maximum-likelihood estimation." class="md-ellipsis">demodulate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.modulate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.modulate (Python method) — Modulates to decimal symbols $s[k]$ to complex symbols $x[k]$." class="md-ellipsis">modulate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.ser/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.PSK.ser (Python method) — Computes the symbol error rate (SER) at the provided $E_s/N_0$ values." class="md-ellipsis">ser</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_1_1_3" type="checkbox" id="__nav_3_3_1_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.PSK/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_3_1_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_3_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.bps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.bps (Python property) — The number of bits per symbol $k = log_2 M$." class="md-ellipsis">bps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.order (Python property) — The modulation order $M = 2^k$." class="md-ellipsis">order</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.phase_offset/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.phase_offset (Python property) — The phase offset $phi$ in degrees." class="md-ellipsis">phase_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.PSK.symbol_map/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.PSK.symbol_map (Python property) — The symbol map ${0, dots, M-1} mapsto mathbb{C}$. This maps decimal symbols from $0$ to $M-1$ to complex symbols." class="md-ellipsis">symbol_<wbr>map</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_2" type="checkbox" id="__nav_3_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#pulse-shaping"><span class="md-ellipsis">Pulse shaping</span></a>
+          
+            <label for="__nav_3_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Pulse shaping" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Pulse shaping</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.gaussian/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.gaussian (Python function) — Returns a Gaussian pulse shape." class="md-ellipsis">gaussian</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.raised_cosine/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.raised_cosine (Python function) — Returns a raised cosine (RC) pulse shape." class="md-ellipsis">raised_<wbr>cosine</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.root_raised_cosine/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.root_raised_cosine (Python function) — Returns a square root raised cosine (SRRC) pulse shape." class="md-ellipsis">root_<wbr>raised_<wbr>cosine</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_3" type="checkbox" id="__nav_3_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#symbol-mapping"><span class="md-ellipsis">Symbol mapping</span></a>
+          
+            <label for="__nav_3_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Symbol mapping" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Symbol mapping</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.binary_code/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.binary_code (Python function) — Generates a binary code of length $2^n$." class="md-ellipsis">binary_<wbr>code</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.gray_code/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.gray_code (Python function) — Generates a Gray code of length $2^n$." class="md-ellipsis">gray_<wbr>code</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_3_4" type="checkbox" id="__nav_3_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../modulation/#symbol-encoding"><span class="md-ellipsis">Symbol encoding</span></a>
+          
+            <label for="__nav_3_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Symbol encoding" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Symbol encoding</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.diff_decode/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.diff_decode (Python function) — Differentially decodes the input data $y[k]$." class="md-ellipsis">diff_<wbr>decode</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.diff_encode/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.diff_encode (Python function) — Differentially encodes the input data $x[k]$." class="md-ellipsis">diff_<wbr>encode</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4" type="checkbox" id="__nav_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../synchronization/"><span class="md-ellipsis">Synchronization</span></a>
+          
+            <label for="__nav_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Synchronization" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Synchronization</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1" type="checkbox" id="__nav_3_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ClosedLoopPLL (Python class) — A class that defines the performance of a closed-loop PLL." class="md-ellipsis">Closed<wbr>Loop<wbr>PLL</span></a>
+          
+            <label for="__nav_3_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="ClosedLoopPLL" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ClosedLoopPLL (Python class) — A class that defines the performance of a closed-loop PLL." class="md-ellipsis">Closed<wbr>Loop<wbr>PLL</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_1" type="checkbox" id="__nav_3_4_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.__init__ (Python method) — Creates a closed-loop PLL analysis object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_2" type="checkbox" id="__nav_3_4_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.frequency_lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.frequency_lock_time (Python method) — Returns the frequency lock time of the PLL." class="md-ellipsis">frequency_<wbr>lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.lock_time (Python method) — Returns the lock time of the PLL." class="md-ellipsis">lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.phase_error_variance/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.phase_error_variance (Python method) — Returns the variance of the phase error of the PLL in steady state." class="md-ellipsis">phase_<wbr>error_<wbr>variance</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.phase_lock_time/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ClosedLoopPLL.phase_lock_time (Python method) — Returns the phase lock time of the PLL." class="md-ellipsis">phase_<wbr>lock_<wbr>time</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_1_3" type="checkbox" id="__nav_3_4_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ClosedLoopPLL/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.Bn/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.Bn (Python property) — The noise bandwidth $B_n$ of the PLL in Hz." class="md-ellipsis">Bn</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.BnT/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.BnT (Python property) — The normalized noise bandwidth $B_n T$ of the PLL." class="md-ellipsis">Bn<wbr>T</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.iir/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.iir (Python property) — The IIR filter that represents the closed-loop transfer function of the PLL." class="md-ellipsis">iir</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K0/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K0 (Python property) — The NCO gain $K_0$." class="md-ellipsis">K0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K1/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K1 (Python property) — The proportional gain $K_1$ of the loop filter." class="md-ellipsis">K1</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.K2/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.K2 (Python property) — The integral gain $K_2$ of the loop filter." class="md-ellipsis">K2</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.Kp/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.Kp (Python property) — The phase error detector (PED) gain $K_p$." class="md-ellipsis">Kp</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.omega_3dB/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.omega_3dB (Python property) — The 3-dB bandwidth $omega_{3textrm{dB}}$ of the PLL in radians/s." class="md-ellipsis">omega_<wbr>3d<wbr>B</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.omega_n/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.omega_n (Python property) — The natural frequency $omega_n$ of the PLL in radians/s." class="md-ellipsis">omega_<wbr>n</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.sample_rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.sample_rate (Python property) — The sample rate $f_s$ of the PLL in samples/s." class="md-ellipsis">sample_<wbr>rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ClosedLoopPLL.zeta/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.ClosedLoopPLL.zeta (Python property) — The damping factor $zeta$ of the PLL." class="md-ellipsis">zeta</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2" type="checkbox" id="__nav_3_4_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.DDS (Python class) — Implements a direct digital synthesizer (DDS)." class="md-ellipsis">DDS</span></a>
+          
+            <label for="__nav_3_4_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="DDS" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.DDS (Python class) — Implements a direct digital synthesizer (DDS)." class="md-ellipsis">DDS</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_1" type="checkbox" id="__nav_3_4_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.__init__ (Python method) — Creates a direct digital synthesizer (DDS)." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
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+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_2" type="checkbox" id="__nav_3_4_2_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_4_2_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.__call__ (Python method) — Steps the DDS with the variable phase increment signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
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+  
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+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_3" type="checkbox" id="__nav_3_4_2_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_2_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.reset (Python method) — Resets the DDS." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.step/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.DDS.step (Python method) — Steps the DDS forward by $N$ samples." class="md-ellipsis">step</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_2_4" type="checkbox" id="__nav_3_4_2_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.DDS/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_2_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.DDS.nco/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.DDS.nco (Python property) — The numerically-controlled oscillator (NCO) used by the DDS." class="md-ellipsis">nco</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3" type="checkbox" id="__nav_3_4_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.LoopFilter (Python class) — Implements a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">Loop<wbr>Filter</span></a>
+          
+            <label for="__nav_3_4_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="LoopFilter" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.LoopFilter (Python class) — Implements a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">Loop<wbr>Filter</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_1" type="checkbox" id="__nav_3_4_3_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_3_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.__init__ (Python method) — Creates a 2nd order, proportional-plus-integrator (PPI) loop filter." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_2" type="checkbox" id="__nav_3_4_3_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_4_3_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.__call__ (Python method) — Filters the input signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_3" type="checkbox" id="__nav_3_4_3_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_3_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.LoopFilter.reset (Python method) — Resets the loop filter." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_3_4" type="checkbox" id="__nav_3_4_3_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.LoopFilter/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_3_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_3_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.damping_factor/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.damping_factor (Python property) — The damping factor $zeta$ of the loop filter. $zeta = 1$ is critically damped, $zeta &lt; 1$ is underdamped, and $zeta &gt; 1$ is overdamped." class="md-ellipsis">damping_<wbr>factor</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.iir/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.iir (Python property) — The underlying IIR filter used to implement the loop filter." class="md-ellipsis">iir</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.K1/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.K1 (Python property) — The proportional gain $K_1$ of the loop filter." class="md-ellipsis">K1</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.K2/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.K2 (Python property) — The integral gain $K_2$ of the loop filter." class="md-ellipsis">K2</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.LoopFilter.noise_bandwidth/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.LoopFilter.noise_bandwidth (Python property) — The normalized noise bandwidth $B_n T$ of the loop filter, where $B_n$ is the noise bandwidth in Hz and $T$ is the sampling period in seconds." class="md-ellipsis">noise_<wbr>bandwidth</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4" type="checkbox" id="__nav_3_4_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.NCO (Python class) — Implements a numerically-controlled oscillator (NCO)." class="md-ellipsis">NCO</span></a>
+          
+            <label for="__nav_3_4_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="NCO" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_4_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.NCO (Python class) — Implements a numerically-controlled oscillator (NCO)." class="md-ellipsis">NCO</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_1" type="checkbox" id="__nav_3_4_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_4_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.__init__ (Python method) — Creates a numerically-controlled oscillator (NCO)." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_2" type="checkbox" id="__nav_3_4_4_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          
+            <label for="__nav_3_4_4_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Special methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Special methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.__call__ (Python method) — Steps the NCO with the variable-increment signal $x[n]$." class="md-ellipsis">__<wbr>call__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_3" type="checkbox" id="__nav_3_4_4_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_4_4_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.reset (Python method) — Resets the NCO." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.step/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.NCO.step (Python method) — Steps the NCO forward by $N$ samples." class="md-ellipsis">step</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_4_4_4" type="checkbox" id="__nav_3_4_4_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.NCO/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_4_4_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_4_4_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.increment/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.increment (Python property) — The constant accumulation $omega$ of the NCO in units/sample." class="md-ellipsis">increment</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.K0/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.K0 (Python property) — The NCO gain $K_0$." class="md-ellipsis">K0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.NCO.offset/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.NCO.offset (Python property) — The absolute offset $theta$ of the NCO in units." class="md-ellipsis">offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5" type="checkbox" id="__nav_3_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/"><span class="md-ellipsis">Measurement</span></a>
+          
+            <label for="__nav_3_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Measurement" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Measurement</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_1" type="checkbox" id="__nav_3_5_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#energy"><span class="md-ellipsis">Energy</span></a>
+          
+            <label for="__nav_3_5_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Energy" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Energy</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.energy/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.energy (Python function) — Measures the energy of a time-domain signal $x[n]$." class="md-ellipsis">energy</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_2" type="checkbox" id="__nav_3_5_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#power"><span class="md-ellipsis">Power</span></a>
+          
+            <label for="__nav_3_5_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Power" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Power</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.average_power/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.average_power (Python function) — Measures the average power of a time-domain signal $x[n]$." class="md-ellipsis">average_<wbr>power</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.papr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.papr (Python function) — Measures the peak-to-average power ratio (PAPR) of a time-domain signal $x[n]$." class="md-ellipsis">papr</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.peak_power/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.peak_power (Python function) — Measures the peak power of a time-domain signal $x[n]$." class="md-ellipsis">peak_<wbr>power</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_3" type="checkbox" id="__nav_3_5_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#voltage"><span class="md-ellipsis">Voltage</span></a>
+          
+            <label for="__nav_3_5_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Voltage" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Voltage</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.crest_factor/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.crest_factor (Python function) — Measures the crest factor of a time-domain signal $x[n]$." class="md-ellipsis">crest_<wbr>factor</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.peak_voltage/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.peak_voltage (Python function) — Measures the peak voltage of a time-domain signal $x[n]$." class="md-ellipsis">peak_<wbr>voltage</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.rms_voltage/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.rms_voltage (Python function) — Measures the root-mean-square (RMS) voltage of a time-domain signal $x[n]$." class="md-ellipsis">rms_<wbr>voltage</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4" type="checkbox" id="__nav_3_5_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../measurement/#modulation"><span class="md-ellipsis">Modulation</span></a>
+          
+            <label for="__nav_3_5_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Modulation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_5_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Modulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1" type="checkbox" id="__nav_3_5_4_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ErrorRate (Python class) — A class for measuring bit error rates (BER) or symbol error rates (SER)." class="md-ellipsis">Error<wbr>Rate</span></a>
+          
+            <label for="__nav_3_5_4_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="ErrorRate" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_5_4_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.ErrorRate (Python class) — A class for measuring bit error rates (BER) or symbol error rates (SER)." class="md-ellipsis">Error<wbr>Rate</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1_1" type="checkbox" id="__nav_3_5_4_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_5_4_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_5_4_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.__init__ (Python method) — Creates a new error rate tabulation object." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_5_4_1_2" type="checkbox" id="__nav_3_5_4_1_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.ErrorRate/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_5_4_1_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_5_4_1_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.add/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.add (Python method) — Measures the number of bit or symbol errors at the given signal-to-noise ratio (SNR)." class="md-ellipsis">add</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.counts/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.counts (Python method) — Returns the number of counts at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">counts</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.error_rate/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.error_rate (Python method) — Returns the error rate at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">error_<wbr>rate</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.error_rates/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.error_rates (Python method) — Returns all signal-to-noise ratios (SNRs) in ascending order and their corresponding error rates." class="md-ellipsis">error_<wbr>rates</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ErrorRate.errors/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.ErrorRate.errors (Python method) — Returns the number of errors at the specified signal-to-noise ratio (SNR)." class="md-ellipsis">errors</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.evm/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.evm (Python function) — Calculates the error-vector magnitude (EVM) of the complex symbols $hat{x}[k]$." class="md-ellipsis">evm</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6" type="checkbox" id="__nav_3_6" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/"><span class="md-ellipsis">Conversions</span></a>
+          
+            <label for="__nav_3_6">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Conversions" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_6">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Conversions</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_1" type="checkbox" id="__nav_3_6_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#decibels"><span class="md-ellipsis">Decibels</span></a>
+          
+            <label for="__nav_3_6_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Decibels" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Decibels</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.db/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.db (Python function) — Converts from linear units to decibels." class="md-ellipsis">db</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.linear/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.linear (Python function) — Converts from decibels to linear units." class="md-ellipsis">linear</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_2" type="checkbox" id="__nav_3_6_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-e-b-n-0"><span class="md-ellipsis">From E_<wbr>b/N_<wbr>0</span></a>
+          
+            <label for="__nav_3_6_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From E_b/N_0" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From E_<wbr>b/N_<wbr>0</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ebn0_to_esn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.ebn0_to_esn0 (Python function) — Converts from $E_b/N_0$ to $E_s/N_0$." class="md-ellipsis">ebn0_<wbr>to_<wbr>esn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.ebn0_to_snr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.ebn0_to_snr (Python function) — Converts from $E_b/N_0$ to $S/N$." class="md-ellipsis">ebn0_<wbr>to_<wbr>snr</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_3" type="checkbox" id="__nav_3_6_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-e-s-n-0"><span class="md-ellipsis">From E_<wbr>s/N_<wbr>0</span></a>
+          
+            <label for="__nav_3_6_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From E_s/N_0" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From E_<wbr>s/N_<wbr>0</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.esn0_to_ebn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.esn0_to_ebn0 (Python function) — Converts from $E_s/N_0$ to $E_b/N_0$." class="md-ellipsis">esn0_<wbr>to_<wbr>ebn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.esn0_to_snr/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.esn0_to_snr (Python function) — Converts from $E_s/N_0$ to $S/N$." class="md-ellipsis">esn0_<wbr>to_<wbr>snr</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_6_4" type="checkbox" id="__nav_3_6_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../conversions/#from-s-n"><span class="md-ellipsis">From S/N</span></a>
+          
+            <label for="__nav_3_6_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="From S/N" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_6_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">From S/N</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.snr_to_ebn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.snr_to_ebn0 (Python function) — Converts from $S/N$ to $E_b/N_0$." class="md-ellipsis">snr_<wbr>to_<wbr>ebn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.snr_to_esn0/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.snr_to_esn0 (Python function) — Converts from $S/N$ to $E_s/N_0$." class="md-ellipsis">snr_<wbr>to_<wbr>esn0</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7" type="checkbox" id="__nav_3_7" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/"><span class="md-ellipsis">Simulation</span></a>
+          
+            <label for="__nav_3_7">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Simulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_7">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Simulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7_1" type="checkbox" id="__nav_3_7_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/#channel-models"><span class="md-ellipsis">Channel models</span></a>
+          
+            <label for="__nav_3_7_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Channel models" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_7_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Channel models</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bec/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bec (Python function) — Passes the binary input sequence $x$ through a binary erasure channel (BEC) with erasure probability $p$." class="md-ellipsis">bec</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bsc/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bsc (Python function) — Passes the binary input sequence $x$ through a binary symmetric channel (BSC) with transition probability $p$." class="md-ellipsis">bsc</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.dmc/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.dmc (Python function) — Passes the input sequence $x$ through a discrete memoryless channel (DMC) with transition probability matrix $P$." class="md-ellipsis">dmc</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_7_2" type="checkbox" id="__nav_3_7_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../simulation/#signal-impairments"><span class="md-ellipsis">Signal impairments</span></a>
+          
+            <label for="__nav_3_7_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Signal impairments" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_7_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Signal impairments</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.awgn/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.awgn (Python function) — Adds additive white Gaussian noise (AWGN) to the time-domain signal $x[n]$." class="md-ellipsis">awgn</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.frequency_offset/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.frequency_offset (Python function) — Applies a frequency and phase offset to the time-domain signal $x[n]$." class="md-ellipsis">frequency_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.iq_imbalance/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.iq_imbalance (Python function) — Applies IQ imbalance to the complex time-domain signal $x[n]$." class="md-ellipsis">iq_<wbr>imbalance</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.sample_rate_offset/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.sample_rate_offset (Python function) — Applies a sample rate offset to the time-domain signal $x[n]$." class="md-ellipsis">sample_<wbr>rate_<wbr>offset</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8" type="checkbox" id="__nav_3_8" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/"><span class="md-ellipsis">Link budgets</span></a>
+          
+            <label for="__nav_3_8">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Link budgets" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_8">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Link budgets</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_1" type="checkbox" id="__nav_3_8_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#channel-capacity"><span class="md-ellipsis">Channel capacity</span></a>
+          
+            <label for="__nav_3_8_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Channel capacity" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Channel capacity</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.awgn_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.awgn_capacity (Python function) — Calculates the capacity of an additive white Gaussian noise (AWGN) channel." class="md-ellipsis">awgn_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bec_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bec_capacity (Python function) — Calculates the capacity of a binary erasure channel (BEC)." class="md-ellipsis">bec_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.bsc_capacity/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.bsc_capacity (Python function) — Calculates the capacity of a binary symmetric channel (BSC)." class="md-ellipsis">bsc_<wbr>capacity</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_2" type="checkbox" id="__nav_3_8_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#path-losses"><span class="md-ellipsis">Path losses</span></a>
+          
+            <label for="__nav_3_8_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Path losses" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Path losses</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.fspl/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.fspl (Python function) — Calculates the free-space path loss (FSPL) in dB." class="md-ellipsis">fspl</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_8_3" type="checkbox" id="__nav_3_8_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../link-budgets/#antennas"><span class="md-ellipsis">Antennas</span></a>
+          
+            <label for="__nav_3_8_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Antennas" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_8_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Antennas</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.parabolic_antenna/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.parabolic_antenna (Python function) — Calculates the gain $G$ and beamwidth $theta$ of a parabolic reflector." class="md-ellipsis">parabolic_<wbr>antenna</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_9" type="checkbox" id="__nav_3_9" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../probability/"><span class="md-ellipsis">Probability</span></a>
+          
+            <label for="__nav_3_9">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Probability" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_9">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Probability</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.Q/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.Q (Python function) — Computes the complementary cumulative distribution function $Q(x)$ of the standard normal distribution $mathcal{N}(0, 1)$." class="md-ellipsis">Q</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.Qinv/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.Qinv (Python function) — Computes the inverse complementary cumulative distribution function $Q^{-1}(p)$ of the standard normal distribution $mathcal{N}(0, 1)$." class="md-ellipsis">Qinv</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_10" type="checkbox" id="__nav_3_10" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../data-manipulation/"><span class="md-ellipsis">Data manipulation</span></a>
+          
+            <label for="__nav_3_10">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Data manipulation" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_10">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Data manipulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.hexdump/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.hexdump (Python function) — Returns a hexdump of the specified data." class="md-ellipsis">hexdump</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.pack/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.pack (Python function) — Packs a binary array into an array with multiple bits per element." class="md-ellipsis">pack</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.unpack/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.unpack (Python function) — Unpacks an array with multiple bits per element into a binary array." class="md-ellipsis">unpack</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11" type="checkbox" id="__nav_3_11" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/"><span class="md-ellipsis">Plotting</span></a>
+          
+            <label for="__nav_3_11">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Plotting" data-md-level="2">
+        <label class="md-nav__title" for="__nav_3_11">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Plotting</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_1" type="checkbox" id="__nav_3_11_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#configuration"><span class="md-ellipsis">Configuration</span></a>
+          
+            <label for="__nav_3_11_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Configuration" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Configuration</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.use_style/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.use_style (Python function) — Applies sdr&#39;s default matplotlib rcParams." class="md-ellipsis">use_<wbr>style</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_2" type="checkbox" id="__nav_3_11_2" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#time-domain"><span class="md-ellipsis">Time-<wbr>domain</span></a>
+          
+            <label for="__nav_3_11_2">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Time-domain" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_2">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Time-<wbr>domain</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.time_domain/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.time_domain (Python function) — Plots a time-domain signal $x[n]$." class="md-ellipsis">time_<wbr>domain</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_3" type="checkbox" id="__nav_3_11_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#spectral-estimation"><span class="md-ellipsis">Spectral estimation</span></a>
+          
+            <label for="__nav_3_11_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Spectral estimation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Spectral estimation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.periodogram/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.periodogram (Python function) — Plots the estimated power spectral density $P_{xx}$ of a time-domain signal $x[n]$ using Welch&#39;s method." class="md-ellipsis">periodogram</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.spectrogram/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.spectrogram (Python function) — Plots the spectrogram of a time-domain signal $x[n]$ using Welch&#39;s method." class="md-ellipsis">spectrogram</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_4" type="checkbox" id="__nav_3_11_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#modulation"><span class="md-ellipsis">Modulation</span></a>
+          
+            <label for="__nav_3_11_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Modulation" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_11_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Modulation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.ber/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.ber (Python function) — Plots the bit error rate (BER) as a function of $E_b/N_0$." class="md-ellipsis">ber</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.constellation/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.constellation (Python function) — Plots the constellation of the complex symbols $hat{x}[k]$." class="md-ellipsis">constellation</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.ser/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.ser (Python function) — Plots the symbol error rate (SER) as a function of $E_s/N_0$." class="md-ellipsis">ser</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.plot.symbol_map/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.plot.symbol_map (Python function) — Plots the symbol map of the complex symbols $hat{x}[k]$." class="md-ellipsis">symbol_<wbr>map</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_11_5" type="checkbox" id="__nav_3_11_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../plotting/#filter-analysis"><span class="md-ellipsis">Filter analysis</span></a>
+          
+            <label for="__nav_3_11_5">
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+      
+        <li class="md-nav__item">
+  <a href="#parameters" class="md-nav__link">
+    <span class="md-ellipsis">Parameters</span>
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+  
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+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#p-P" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.multirate_fir.P (Python parameter) — The interpolation rate $P$." class="md-ellipsis">P</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-Q" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.multirate_fir.Q (Python parameter) — The decimation rate $Q$." class="md-ellipsis">Q</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-half_length" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.multirate_fir.half_length (Python parameter) — The half-length of the polyphase filters." class="md-ellipsis">half_<wbr>length</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-A_stop" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.multirate_fir.A_stop (Python parameter) — The stopband attenuation $A_{text{stop}}$ in dB." class="md-ellipsis">A_<wbr>stop</span>
+  </a>
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+  
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+      
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+  <a href="#references" class="md-nav__link">
+    <span class="md-ellipsis">References</span>
+  </a>
+  
+</li>
+      
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+  <a href="#examples" class="md-nav__link">
+    <span class="md-ellipsis">Examples</span>
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+                  
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+
+<dl class="py function objdesc">
+<dt class="sig sig-object highlight sig-wrap py">
+<span class="sig-prename descclassname"><span class="pre">sdr.</span></span><span class="sig-name descname"><span class="pre">multirate_fir</span></span><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="#p-P" title="sdr.multirate_fir.P (Python parameter) — The interpolation rate $P$."><span class="n"><span class="pre">P</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.11)"><span class="pre">int</span></a></span></span></em>, </span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="#p-Q" title="sdr.multirate_fir.Q (Python parameter) — The decimation rate $Q$."><span class="n"><span class="pre">Q</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.11)"><span class="pre">int</span></a></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><code class="code python default_value docutils literal highlight highlight-python"><span class="mi">1</span></code></em>, </span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="#p-half_length" title="sdr.multirate_fir.half_length (Python parameter) — The half-length of the polyphase filters."><span class="n"><span class="pre">half_length</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.11)"><span class="pre">int</span></a></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><code class="code python default_value docutils literal highlight highlight-python"><span class="mi">12</span></code></em>, </span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="#p-A_stop" title="sdr.multirate_fir.A_stop (Python parameter) — The stopband attenuation $A_{text{stop}}$ in dB."><span class="n"><span class="pre">A_stop</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.11)"><span class="pre">float</span></a></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><code class="code python default_value docutils literal highlight highlight-python"><span class="mi">80</span></code></em></span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="desctype"><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.25)"><span class="pre">ndarray</span></a></span></span></span></dt>
+<dd><p>Computes the multirate FIR filter that achieves rational resampling by <span class="math notranslate nohighlight">\(P/Q\)</span>.</p>
+<div class="note admonition">
+<p class="admonition-title">Note</p>
+<p>This filter can be used with <a class="reference internal" href="../sdr.FIRInterpolator/" title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter."><code class="xref py py-class docutils literal notranslate"><span class="pre">sdr.FIRInterpolator</span></code></a> or <code class="xref py py-class docutils literal notranslate"><span class="pre">sdr.FIRDecimator</span></code>.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd" id="parameters">Parameters<span class="colon">:</span><a class="headerlink" href="#parameters" title="Permalink to this headline">¶</a></dt>
+<dd class="field-odd"><dl class="simple api-field highlight">
+<dt id="p-P"><span class="n sig-name">P</span><span class="p">:</span><span class="w">   </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.11)">int</a></span></span><a class="headerlink" href="#p-P" title="Permalink to this definition">¶</a></dt><dd><p>The interpolation rate <span class="math notranslate nohighlight">\(P\)</span>.</p>
+</dd>
+<dt id="p-Q"><span class="n sig-name">Q</span><span class="p">:</span><span class="w">   </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.11)">int</a></span></span><span class="w">   </span><span class="o">=</span><span class="w">   </span><code class="code python default_value docutils literal highlight highlight-python"><span class="mi">1</span></code><a class="headerlink" href="#p-Q" title="Permalink to this definition">¶</a></dt><dd><p>The decimation rate <span class="math notranslate nohighlight">\(Q\)</span>.</p>
+</dd>
+<dt id="p-half_length"><span class="n sig-name">half_length</span><span class="p">:</span><span class="w">   </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.11)">int</a></span></span><span class="w">   </span><span class="o">=</span><span class="w">   </span><code class="code python default_value docutils literal highlight highlight-python"><span class="mi">12</span></code><a class="headerlink" href="#p-half_length" title="Permalink to this definition">¶</a></dt><dd><p>The half-length of the polyphase filters.</p>
+</dd>
+<dt id="p-A_stop"><span class="n sig-name">A_stop</span><span class="p">:</span><span class="w">   </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.11)">float</a></span></span><span class="w">   </span><span class="o">=</span><span class="w">   </span><code class="code python default_value docutils literal highlight highlight-python"><span class="mi">80</span></code><a class="headerlink" href="#p-A_stop" title="Permalink to this definition">¶</a></dt><dd><p>The stopband attenuation <span class="math notranslate nohighlight">\(A_{\text{stop}}\)</span> in dB.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-even" id="returns">Returns<span class="colon">:</span><a class="headerlink" href="#returns" title="Permalink to this headline">¶</a></dt>
+<dd class="field-even"><p>The multirate FIR filter <span class="math notranslate nohighlight">\(h[n]\)</span>.</p>
+</dd>
+</dl>
+<p class="rubric" id="references">References<a class="headerlink" href="#references" title="Permalink to this headline">¶</a></p>
+<ul class="simple">
+<li><p>fred harris, <em>Multirate Signal Processing for Communication Systems</em>, Chapter 7: Resampling Filters</p></li>
+<li><p><a class="reference external" href="https://www.mathworks.com/help/dsp/ref/designmultiratefir.html">https://www.mathworks.com/help/dsp/ref/designmultiratefir.html</a></p></li>
+</ul>
+<p class="example rubric" id="examples">Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></p>
+<p>Design a multirate FIR filter for rational resampling by 2/3.</p>
+<div class="highlight-ipython notranslate"><div class="highlight"><pre><span></span><code><span class="gp">In [1]: </span><span class="n">h</span> <span class="o">=</span> <span class="n">sdr</span><span class="o">.</span><span class="n">multirate_fir</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span>
+
+<span class="gp">In [2]: </span><span class="n">plt</span><span class="o">.</span><span class="n">figure</span><span class="p">(</span><span class="n">figsize</span><span class="o">=</span><span class="p">(</span><span class="mi">8</span><span class="p">,</span> <span class="mi">4</span><span class="p">));</span> \
+<span class="gp">   ...: </span><span class="n">sdr</span><span class="o">.</span><span class="n">plot</span><span class="o">.</span><span class="n">impulse_response</span><span class="p">(</span><span class="n">h</span><span class="p">);</span>
+<span class="gp">   ...: </span>
+
+<span class="gp">In [3]: </span><span class="n">plt</span><span class="o">.</span><span class="n">figure</span><span class="p">(</span><span class="n">figsize</span><span class="o">=</span><span class="p">(</span><span class="mi">8</span><span class="p">,</span> <span class="mi">4</span><span class="p">));</span> \
+<span class="gp">   ...: </span><span class="n">sdr</span><span class="o">.</span><span class="n">plot</span><span class="o">.</span><span class="n">frequency_response</span><span class="p">(</span><span class="n">h</span><span class="p">);</span>
+<span class="gp">   ...: </span>
+</code></pre></div>
+</div>
+<img alt="../../_images/sdr_multirate_fir_1.png" src="../../_images/sdr_multirate_fir_1.png" />
+<img alt="../../_images/sdr_multirate_fir_2.png" src="../../_images/sdr_multirate_fir_2.png" />
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+    </a>
+  
+    
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+      
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+    
+    <a href="https://pypi.org/project/sdr/" target="_blank" rel="noopener" title="pypi.org" class="md-social__link">
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.8 200.5c-7.7-30.9-22.3-54.2-53.4-54.2h-40.1v47.4c0 36.8-31.2 67.8-66.8 67.8H172.7c-29.2 0-53.4 25-53.4 54.3v101.8c0 29 25.2 46 53.4 54.3 33.8 9.9 66.3 11.7 106.8 0 26.9-7.8 53.4-23.5 53.4-54.3v-40.7H226.2v-13.6h160.2c31.1 0 42.6-21.7 53.4-54.2 11.2-33.5 10.7-65.7 0-108.6zM286.2 404c11.1 0 20.1 9.1 20.1 20.3 0 11.3-9 20.4-20.1 20.4-11 0-20.1-9.2-20.1-20.4.1-11.3 9.1-20.3 20.1-20.3zM167.8 248.1h106.8c29.7 0 53.4-24.5 53.4-54.3V91.9c0-29-24.4-50.7-53.4-55.6-35.8-5.9-74.7-5.6-106.8.1-45.2 8-53.4 24.7-53.4 55.6v40.7h106.9v13.6h-147c-31.1 0-58.3 18.7-66.8 54.2-9.8 40.7-10.2 66.1 0 108.6 7.6 31.6 25.7 54.2 56.8 54.2H101v-48.8c0-35.3 30.5-66.4 66.8-66.4zm-6.7-142.6c-11.1 0-20.1-9.1-20.1-20.3.1-11.3 9-20.4 20.1-20.4 11 0 20.1 9.2 20.1 20.4s-9 20.3-20.1 20.3z"/></svg>
+    </a>
+  
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+    <a href="https://twitter.com/sdr_py" target="_blank" rel="noopener" title="twitter.com" class="md-social__link">
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512"><!--! Font Awesome Free 6.2.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M459.37 151.716c.325 4.548.325 9.097.325 13.645 0 138.72-105.583 298.558-298.558 298.558-59.452 0-114.68-17.219-161.137-47.106 8.447.974 16.568 1.299 25.34 1.299 49.055 0 94.213-16.568 130.274-44.832-46.132-.975-84.792-31.188-98.112-72.772 6.498.974 12.995 1.624 19.818 1.624 9.421 0 18.843-1.3 27.614-3.573-48.081-9.747-84.143-51.98-84.143-102.985v-1.299c13.969 7.797 30.214 12.67 47.431 13.319-28.264-18.843-46.781-51.005-46.781-87.391 0-19.492 5.197-37.36 14.294-52.954 51.655 63.675 129.3 105.258 216.365 109.807-1.624-7.797-2.599-15.918-2.599-24.04 0-57.828 46.782-104.934 104.934-104.934 30.213 0 57.502 12.67 76.67 33.137 23.715-4.548 46.456-13.32 66.599-25.34-7.798 24.366-24.366 44.833-46.132 57.827 21.117-2.273 41.584-8.122 60.426-16.243-14.292 20.791-32.161 39.308-52.628 54.253z"/></svg>
+    </a>
+  
+</div>
+      
+    </div>
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+</footer>
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+    </div>
+    <div class="md-dialog" data-md-component="dialog">
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+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.top", "navigation.tracking", "toc.follow", "toc.sticky", "content.tabs.link", "announce.dismiss"], "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.config.lang": "en", "search.config.pipeline": "trimmer, stopWordFilter", "search.config.separator": "[\\s\\-]+", "search.placeholder": "Search", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version.title": "Select version"}, "version": {"provider": "mike", "staticVersions": null, "versionPath": "../versions.json"}}</script>
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+  </body>
+</html>
\ No newline at end of file
diff --git a/v0.0.x/api/sdr.pack/index.html b/v0.0.x/api/sdr.pack/index.html
index 50936e1df..d4656bc01 100644
--- a/v0.0.x/api/sdr.pack/index.html
+++ b/v0.0.x/api/sdr.pack/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.papr/index.html b/v0.0.x/api/sdr.papr/index.html
index 3b1448c14..6d420711e 100644
--- a/v0.0.x/api/sdr.papr/index.html
+++ b/v0.0.x/api/sdr.papr/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
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@@ -1604,24 +1838,24 @@
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
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+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
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-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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           <span class="md-ellipsis">Constructors</span>
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+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
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@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.parabolic_antenna/index.html b/v0.0.x/api/sdr.parabolic_antenna/index.html
index 96a3cae8e..89259d742 100644
--- a/v0.0.x/api/sdr.parabolic_antenna/index.html
+++ b/v0.0.x/api/sdr.parabolic_antenna/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
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@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.peak_power/index.html b/v0.0.x/api/sdr.peak_power/index.html
index 32f8a8a84..feb3a70fc 100644
--- a/v0.0.x/api/sdr.peak_power/index.html
+++ b/v0.0.x/api/sdr.peak_power/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.peak_voltage/index.html b/v0.0.x/api/sdr.peak_voltage/index.html
index 4b95578ea..44db7027c 100644
--- a/v0.0.x/api/sdr.peak_voltage/index.html
+++ b/v0.0.x/api/sdr.peak_voltage/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.plot.ber/index.html b/v0.0.x/api/sdr.plot.ber/index.html
index 8678af487..b4cdfa8e2 100644
--- a/v0.0.x/api/sdr.plot.ber/index.html
+++ b/v0.0.x/api/sdr.plot.ber/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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           <span class="md-ellipsis">Constructors</span>
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@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
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@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.plot.constellation/index.html b/v0.0.x/api/sdr.plot.constellation/index.html
index fd861e8f7..881aed004 100644
--- a/v0.0.x/api/sdr.plot.constellation/index.html
+++ b/v0.0.x/api/sdr.plot.constellation/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.plot.filter/index.html b/v0.0.x/api/sdr.plot.filter/index.html
index 89c33a82b..856e62292 100644
--- a/v0.0.x/api/sdr.plot.filter/index.html
+++ b/v0.0.x/api/sdr.plot.filter/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.plot.frequency_response/index.html b/v0.0.x/api/sdr.plot.frequency_response/index.html
index 2464f0355..1379bf3b2 100644
--- a/v0.0.x/api/sdr.plot.frequency_response/index.html
+++ b/v0.0.x/api/sdr.plot.frequency_response/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
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@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.plot.group_delay/index.html b/v0.0.x/api/sdr.plot.group_delay/index.html
index 02960a6e2..f95389195 100644
--- a/v0.0.x/api/sdr.plot.group_delay/index.html
+++ b/v0.0.x/api/sdr.plot.group_delay/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
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         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
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@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.plot.impulse_response/index.html b/v0.0.x/api/sdr.plot.impulse_response/index.html
index 77d519247..1d4cb51c5 100644
--- a/v0.0.x/api/sdr.plot.impulse_response/index.html
+++ b/v0.0.x/api/sdr.plot.impulse_response/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.plot.periodogram/index.html b/v0.0.x/api/sdr.plot.periodogram/index.html
index 5982e85c0..182542800 100644
--- a/v0.0.x/api/sdr.plot.periodogram/index.html
+++ b/v0.0.x/api/sdr.plot.periodogram/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
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@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.plot.phase_delay/index.html b/v0.0.x/api/sdr.plot.phase_delay/index.html
index 06947796a..51b95703c 100644
--- a/v0.0.x/api/sdr.plot.phase_delay/index.html
+++ b/v0.0.x/api/sdr.plot.phase_delay/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
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     </li>
@@ -1763,7 +2020,7 @@
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@@ -1771,14 +2028,14 @@
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-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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+        <label class="md-nav__title" for="__nav_3_1_3">
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
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-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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           <span class="md-ellipsis">Constructors</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.plot.phase_response/index.html b/v0.0.x/api/sdr.plot.phase_response/index.html
index 44426371c..f4b8eaaf2 100644
--- a/v0.0.x/api/sdr.plot.phase_response/index.html
+++ b/v0.0.x/api/sdr.plot.phase_response/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
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@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
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@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.plot.ser/index.html b/v0.0.x/api/sdr.plot.ser/index.html
index 981c6a1d9..a5cc08523 100644
--- a/v0.0.x/api/sdr.plot.ser/index.html
+++ b/v0.0.x/api/sdr.plot.ser/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
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+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.plot.spectrogram/index.html b/v0.0.x/api/sdr.plot.spectrogram/index.html
index 1b2dd3648..22be21409 100644
--- a/v0.0.x/api/sdr.plot.spectrogram/index.html
+++ b/v0.0.x/api/sdr.plot.spectrogram/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
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@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.plot.step_response/index.html b/v0.0.x/api/sdr.plot.step_response/index.html
index b899db3b8..6f3f301a1 100644
--- a/v0.0.x/api/sdr.plot.step_response/index.html
+++ b/v0.0.x/api/sdr.plot.step_response/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.plot.symbol_map/index.html b/v0.0.x/api/sdr.plot.symbol_map/index.html
index 7cbb05f80..a454eccb0 100644
--- a/v0.0.x/api/sdr.plot.symbol_map/index.html
+++ b/v0.0.x/api/sdr.plot.symbol_map/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.plot.time_domain/index.html b/v0.0.x/api/sdr.plot.time_domain/index.html
index 82f6a50b0..a001603cc 100644
--- a/v0.0.x/api/sdr.plot.time_domain/index.html
+++ b/v0.0.x/api/sdr.plot.time_domain/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,8 +1346,121 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_1_2_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1262,8 +1473,53 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1277,8 +1533,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
       </a>
     </li>
   
@@ -1292,8 +1548,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
       </a>
     </li>
   
@@ -1307,8 +1563,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1331,6 +1587,14 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1340,24 +1604,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Multirate filtering</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1370,24 +1634,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
           
-            <label for="__nav_3_1_1_3_1">
+            <label for="__nav_3_1_2_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1396,15 +1660,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1413,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1438,22 +1717,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1466,8 +1745,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1770,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1534,26 +1813,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1562,15 +1834,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_2_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Methods</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1579,8 +1866,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
@@ -1604,22 +1891,22 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1632,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1647,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1662,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1677,41 +1964,27 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1722,8 +1995,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
       </a>
     </li>
   
@@ -1738,22 +2011,6 @@
 
             
           
-        </ul>
-      </nav>
-    </li>
-  
-  
-
-            
-          
-        </ul>
-      </nav>
-    </li>
-  
-  
-
-            
-          
             
               
   
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
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         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
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-            <label for="__nav_3_1_2_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
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         </label>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
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           <span class="md-ellipsis">Signal manipulation</span>
         </label>
@@ -5708,6 +5965,20 @@
     <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.plot.time_domain.sample_rate (Python parameter) — The sample rate $f_s$ of the signal in samples/s. If the sample rate is 1, the x-axis will be label as &#34;Samples&#34;." class="md-ellipsis">sample_<wbr>rate</span>
   </a>
   
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-centered" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.plot.time_domain.centered (Python parameter) — Indicates whether to center the x-axis about 0. This argument is mutually exclusive with offset." class="md-ellipsis">centered</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-offset" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.plot.time_domain.offset (Python parameter) — The x-axis offset to apply to the first sample. The units of the offset are $1/f_s$. This argument is mutually exclusive with centered." class="md-ellipsis">offset</span>
+  </a>
+  
 </li>
         
           <li class="md-nav__item">
@@ -6248,6 +6519,20 @@
     <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.plot.time_domain.sample_rate (Python parameter) — The sample rate $f_s$ of the signal in samples/s. If the sample rate is 1, the x-axis will be label as &#34;Samples&#34;." class="md-ellipsis">sample_<wbr>rate</span>
   </a>
   
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-centered" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.plot.time_domain.centered (Python parameter) — Indicates whether to center the x-axis about 0. This argument is mutually exclusive with offset." class="md-ellipsis">centered</span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#p-offset" class="md-nav__link">
+    <span aria-label="Python parameter" class="objinfo-icon objinfo-icon__sub-data" title="Python parameter">p</span><span title="sdr.plot.time_domain.offset (Python parameter) — The x-axis offset to apply to the first sample. The units of the offset are $1/f_s$. This argument is mutually exclusive with centered." class="md-ellipsis">offset</span>
+  </a>
+  
 </li>
         
           <li class="md-nav__item">
@@ -6292,7 +6577,7 @@
 
 <dl class="py function objdesc">
 <dt class="sig sig-object highlight sig-wrap py">
-<span class="sig-prename descclassname"><span class="pre">sdr.plot.</span></span><span class="sig-name descname"><span class="pre">time_domain</span></span><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="#p-x" title="sdr.plot.time_domain.x (Python parameter) — The time-domain signal $x[n]$."><span class="n"><span class="pre">x</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><span class="pre">ArrayLike</span></span></span></em>, </span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="#p-sample_rate" title="sdr.plot.time_domain.sample_rate (Python parameter) — The sample rate $f_s$ of the signal in samples/s. If the sample rate is 1, the x-axis will be label as &quot;Samples&quot;."><span class="n"><span class="pre">sample_rate</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.11)"><span class="pre">float</span></a></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><code class="code python default_value docutils literal highlight highlight-python"><span class="mf">1.0</span></code></em>, </span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="#p-diff" title="sdr.plot.time_domain.diff (Python parameter) — Indicates how to differentiate the real and imaginary parts of a complex signal. If &quot;color&quot;, the real and imaginary parts will have different colors based on the current Matplotlib color cycle. If &quot;line&quot;, the real part will have a solid line and the imaginary part will have a dashed line, and both lines will share the same color."><span class="n"><span class="pre">diff</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><span class="s"><span class="pre">'color'</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="s"><span class="pre">'line'</span></span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><code class="code python default_value docutils literal highlight highlight-python"><span class="s1">&#39;color&#39;</span></code></em>, </span><span class="sig-param-decl"><em class="sig-param"><span class="o"><span class="pre">**</span></span><a class="n reference internal" href="#p-kwargs" title="sdr.plot.time_domain.kwargs (Python parameter) — Additional keyword arguments to pass to matplotlib.pyplot.plot()."><span class="n"><span class="pre">kwargs</span></span></a></em></span><span class="sig-paren">)</span></dt>
+<span class="sig-prename descclassname"><span class="pre">sdr.plot.</span></span><span class="sig-name descname"><span class="pre">time_domain</span></span><span class="sig-paren">(</span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="#p-x" title="sdr.plot.time_domain.x (Python parameter) — The time-domain signal $x[n]$."><span class="n"><span class="pre">x</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><span class="pre">ArrayLike</span></span></span></em>, </span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="#p-sample_rate" title="sdr.plot.time_domain.sample_rate (Python parameter) — The sample rate $f_s$ of the signal in samples/s. If the sample rate is 1, the x-axis will be label as &quot;Samples&quot;."><span class="n"><span class="pre">sample_rate</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.11)"><span class="pre">float</span></a></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><code class="code python default_value docutils literal highlight highlight-python"><span class="mf">1.0</span></code></em>, </span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="#p-centered" title="sdr.plot.time_domain.centered (Python parameter) — Indicates whether to center the x-axis about 0. This argument is mutually exclusive with offset."><span class="n"><span class="pre">centered</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.11)"><span class="pre">bool</span></a></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><code class="code python default_value docutils literal highlight highlight-python"><span class="kc">False</span></code></em>, </span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="#p-offset" title="sdr.plot.time_domain.offset (Python parameter) — The x-axis offset to apply to the first sample. The units of the offset are $1/f_s$. This argument is mutually exclusive with centered."><span class="n"><span class="pre">offset</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.11)"><span class="pre">float</span></a></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><code class="code python default_value docutils literal highlight highlight-python"><span class="mi">0</span></code></em>, </span><span class="sig-param-decl"><em class="sig-param"><a class="n reference internal" href="#p-diff" title="sdr.plot.time_domain.diff (Python parameter) — Indicates how to differentiate the real and imaginary parts of a complex signal. If &quot;color&quot;, the real and imaginary parts will have different colors based on the current Matplotlib color cycle. If &quot;line&quot;, the real part will have a solid line and the imaginary part will have a dashed line, and both lines will share the same color."><span class="n"><span class="pre">diff</span></span></a><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="desctype"><span class="s"><span class="pre">'color'</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="s"><span class="pre">'line'</span></span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><code class="code python default_value docutils literal highlight highlight-python"><span class="s1">&#39;color&#39;</span></code></em>, </span><span class="sig-param-decl"><em class="sig-param"><span class="o"><span class="pre">**</span></span><a class="n reference internal" href="#p-kwargs" title="sdr.plot.time_domain.kwargs (Python parameter) — Additional keyword arguments to pass to matplotlib.pyplot.plot()."><span class="n"><span class="pre">kwargs</span></span></a></em></span><span class="sig-paren">)</span></dt>
 <dd><p>Plots a time-domain signal <span class="math notranslate nohighlight">\(x[n]\)</span>.</p>
 <dl class="field-list simple">
 <dt class="field-odd" id="parameters">Parameters<span class="colon">:</span><a class="headerlink" href="#parameters" title="Permalink to this headline">¶</a></dt>
@@ -6302,6 +6587,12 @@
 <dt id="p-sample_rate"><span class="n sig-name">sample_rate</span><span class="p">:</span><span class="w">   </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.11)">float</a></span></span><span class="w">   </span><span class="o">=</span><span class="w">   </span><code class="code python default_value docutils literal highlight highlight-python"><span class="mf">1.0</span></code><a class="headerlink" href="#p-sample_rate" title="Permalink to this definition">¶</a></dt><dd><p>The sample rate <span class="math notranslate nohighlight">\(f_s\)</span> of the signal in samples/s. If the sample rate is 1, the x-axis will
 be label as “Samples”.</p>
 </dd>
+<dt id="p-centered"><span class="n sig-name">centered</span><span class="p">:</span><span class="w">   </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.11)">bool</a></span></span><span class="w">   </span><span class="o">=</span><span class="w">   </span><code class="code python default_value docutils literal highlight highlight-python"><span class="kc">False</span></code><a class="headerlink" href="#p-centered" title="Permalink to this definition">¶</a></dt><dd><p>Indicates whether to center the x-axis about 0. This argument is mutually exclusive with
+<code class="code highlight python docutils literal highlight-python"><span class="n">offset</span></code>.</p>
+</dd>
+<dt id="p-offset"><span class="n sig-name">offset</span><span class="p">:</span><span class="w">   </span><span class="n"><span class="desctype"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.11)">float</a></span></span><span class="w">   </span><span class="o">=</span><span class="w">   </span><code class="code python default_value docutils literal highlight highlight-python"><span class="mi">0</span></code><a class="headerlink" href="#p-offset" title="Permalink to this definition">¶</a></dt><dd><p>The x-axis offset to apply to the first sample. The units of the offset are <span class="math notranslate nohighlight">\(1/f_s\)</span>.
+This argument is mutually exclusive with <code class="code highlight python docutils literal highlight-python"><span class="n">centered</span></code>.</p>
+</dd>
 <dt id="p-diff"><span class="n sig-name">diff</span><span class="p">:</span><span class="w">   </span><span class="n"><span class="desctype"><span class="s">'color'</span><span class="w">   </span><span class="p">|</span><span class="w">   </span><span class="s">'line'</span></span></span><span class="w">   </span><span class="o">=</span><span class="w">   </span><code class="code python default_value docutils literal highlight highlight-python"><span class="s1">&#39;color&#39;</span></code><a class="headerlink" href="#p-diff" title="Permalink to this definition">¶</a></dt><dd><p>Indicates how to differentiate the real and imaginary parts of a complex signal. If <code class="code highlight python docutils literal highlight-python"><span class="s2">&quot;color&quot;</span></code>, the
 real and imaginary parts will have different colors based on the current Matplotlib color cycle.
 If <code class="code highlight python docutils literal highlight-python"><span class="s2">&quot;line&quot;</span></code>, the real part will have a solid line and the imaginary part will have a dashed line,
diff --git a/v0.0.x/api/sdr.plot.use_style/index.html b/v0.0.x/api/sdr.plot.use_style/index.html
index 8399f7d2d..8747cacef 100644
--- a/v0.0.x/api/sdr.plot.use_style/index.html
+++ b/v0.0.x/api/sdr.plot.use_style/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
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               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.plot.zeros_poles/index.html b/v0.0.x/api/sdr.plot.zeros_poles/index.html
index eb4bf3763..d6c3d0468 100644
--- a/v0.0.x/api/sdr.plot.zeros_poles/index.html
+++ b/v0.0.x/api/sdr.plot.zeros_poles/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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@@ -1982,7 +2239,7 @@
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
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-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
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diff --git a/v0.0.x/api/sdr.raised_cosine/index.html b/v0.0.x/api/sdr.raised_cosine/index.html
index ae1eed9e2..98fa97d35 100644
--- a/v0.0.x/api/sdr.raised_cosine/index.html
+++ b/v0.0.x/api/sdr.raised_cosine/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
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-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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           <span class="md-ellipsis">Constructors</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
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+            <label for="__nav_3_1_3_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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           <span class="md-ellipsis">Methods</span>
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@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.rms_voltage/index.html b/v0.0.x/api/sdr.rms_voltage/index.html
index b5e204186..a17e2d852 100644
--- a/v0.0.x/api/sdr.rms_voltage/index.html
+++ b/v0.0.x/api/sdr.rms_voltage/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.root_raised_cosine/index.html b/v0.0.x/api/sdr.root_raised_cosine/index.html
index efcf0c7c8..fbbacdb86 100644
--- a/v0.0.x/api/sdr.root_raised_cosine/index.html
+++ b/v0.0.x/api/sdr.root_raised_cosine/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.sample_rate_offset/index.html b/v0.0.x/api/sdr.sample_rate_offset/index.html
index 971d6ba59..6a72ba160 100644
--- a/v0.0.x/api/sdr.sample_rate_offset/index.html
+++ b/v0.0.x/api/sdr.sample_rate_offset/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
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+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1793,7 +2050,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1831,14 +2088,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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           <span class="md-ellipsis">Constructors</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
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           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/sdr.snr_to_ebn0/index.html b/v0.0.x/api/sdr.snr_to_ebn0/index.html
index 2e794dc4b..b210ff680 100644
--- a/v0.0.x/api/sdr.snr_to_ebn0/index.html
+++ b/v0.0.x/api/sdr.snr_to_ebn0/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.snr_to_esn0/index.html b/v0.0.x/api/sdr.snr_to_esn0/index.html
index 5f8ab00f4..b9af6a9d5 100644
--- a/v0.0.x/api/sdr.snr_to_esn0/index.html
+++ b/v0.0.x/api/sdr.snr_to_esn0/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.to_complex_bb/index.html b/v0.0.x/api/sdr.to_complex_bb/index.html
index 9ecfe9ee0..c90473c97 100644
--- a/v0.0.x/api/sdr.to_complex_bb/index.html
+++ b/v0.0.x/api/sdr.to_complex_bb/index.html
@@ -834,7 +834,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -842,8 +842,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -941,7 +1009,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -949,14 +1017,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1053,7 +1121,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1061,10 +1129,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1083,7 +1151,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1105,8 +1173,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1136,7 +1219,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1158,8 +1241,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1189,7 +1272,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1197,10 +1280,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1211,8 +1294,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1242,7 +1340,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1250,10 +1348,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1264,8 +1362,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1279,8 +1377,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1294,8 +1392,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1309,19 +1407,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
   
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1342,24 +1447,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1368,30 +1473,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1400,8 +1520,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1415,8 +1535,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1431,6 +1581,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1440,24 +1606,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1468,8 +1694,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1493,24 +1719,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1521,26 +1747,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1549,15 +1768,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1566,8 +1800,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1581,8 +1815,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1606,24 +1840,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1634,26 +1868,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1662,15 +1889,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1679,8 +1921,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1694,8 +1936,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1709,8 +1951,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1724,8 +1966,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1748,6 +1990,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1765,7 +2022,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1773,14 +2030,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1795,7 +2052,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1803,14 +2060,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1825,7 +2082,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1833,14 +2090,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1878,7 +2135,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1886,14 +2143,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1931,7 +2188,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1939,14 +2196,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1984,7 +2241,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1992,14 +2249,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2085,7 +2342,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" checked>
       
       
       
@@ -2093,14 +2350,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.to_real_pb/index.html b/v0.0.x/api/sdr.to_real_pb/index.html
index c33fa363c..fc5e75b79 100644
--- a/v0.0.x/api/sdr.to_real_pb/index.html
+++ b/v0.0.x/api/sdr.to_real_pb/index.html
@@ -834,7 +834,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -842,8 +842,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -941,7 +1009,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -949,14 +1017,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1053,7 +1121,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1061,10 +1129,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1083,7 +1151,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1105,8 +1173,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1136,7 +1219,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1158,8 +1241,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1189,7 +1272,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1197,10 +1280,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1211,8 +1294,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1242,7 +1340,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1250,10 +1348,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1264,8 +1362,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1279,8 +1377,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1294,8 +1392,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1309,19 +1407,26 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
   
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
+  
 
             
           
@@ -1342,24 +1447,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1368,30 +1473,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1400,8 +1520,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1415,8 +1535,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1431,6 +1581,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1440,24 +1606,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1468,8 +1694,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1493,24 +1719,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1521,26 +1747,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1549,15 +1768,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1566,8 +1800,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1581,8 +1815,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1606,24 +1840,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1634,26 +1868,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1662,15 +1889,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1679,8 +1921,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1694,8 +1936,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1709,8 +1951,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1724,8 +1966,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1748,6 +1990,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
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     </li>
@@ -1765,7 +2022,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1773,14 +2030,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
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+        <label class="md-nav__title" for="__nav_3_1_3">
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           <span class="md-ellipsis">Resampling</span>
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@@ -1795,7 +2052,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1803,14 +2060,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1825,7 +2082,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1833,14 +2090,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1878,7 +2135,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1886,14 +2143,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1931,7 +2188,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1939,14 +2196,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1984,7 +2241,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1992,14 +2249,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2085,7 +2342,7 @@
     <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" checked>
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" checked>
       
       
       
@@ -2093,14 +2350,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.unpack/index.html b/v0.0.x/api/sdr.unpack/index.html
index fe53ee161..9b865a37f 100644
--- a/v0.0.x/api/sdr.unpack/index.html
+++ b/v0.0.x/api/sdr.unpack/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/sdr.zadoff_chu/index.html b/v0.0.x/api/sdr.zadoff_chu/index.html
index 813438237..c79e4f9fe 100644
--- a/v0.0.x/api/sdr.zadoff_chu/index.html
+++ b/v0.0.x/api/sdr.zadoff_chu/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1604,24 +1838,24 @@
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-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
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-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
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@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
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+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
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+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
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@@ -1763,7 +2020,7 @@
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@@ -1771,14 +2028,14 @@
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           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1801,14 +2058,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
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@@ -1884,14 +2141,14 @@
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           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1937,14 +2194,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1990,14 +2247,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2089,14 +2346,14 @@
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           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
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diff --git a/v0.0.x/api/sequences/index.html b/v0.0.x/api/sequences/index.html
index 559897f67..21166d84e 100644
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+++ b/v0.0.x/api/sequences/index.html
@@ -827,7 +827,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
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@@ -835,8 +835,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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           <span class="md-ellipsis">Methods</span>
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
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@@ -942,14 +1010,14 @@
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           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -1046,7 +1114,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1054,10 +1122,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1076,7 +1144,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1098,8 +1166,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1129,7 +1212,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1151,8 +1234,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1182,7 +1265,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1190,10 +1273,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1204,8 +1287,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1235,7 +1333,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1243,10 +1341,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1257,8 +1355,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1272,8 +1370,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1287,8 +1385,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1302,18 +1400,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1335,24 +1440,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1361,30 +1466,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1393,8 +1513,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1408,8 +1528,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1424,6 +1574,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1433,24 +1599,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1461,8 +1687,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1486,24 +1712,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1514,26 +1740,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1542,15 +1761,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1559,8 +1793,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1574,8 +1808,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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     </li>
   
@@ -1599,24 +1833,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1627,26 +1861,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1655,15 +1882,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1672,8 +1914,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1687,8 +1929,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1702,8 +1944,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1717,8 +1959,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1741,6 +1983,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1758,7 +2015,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1766,14 +2023,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1788,7 +2045,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1796,14 +2053,14 @@
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           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1818,7 +2075,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1826,14 +2083,14 @@
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           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1871,7 +2128,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1879,14 +2136,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1924,7 +2181,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1932,14 +2189,14 @@
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           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -1977,7 +2234,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -1985,14 +2242,14 @@
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           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -2076,7 +2333,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2084,14 +2341,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/api/simulation/index.html b/v0.0.x/api/simulation/index.html
index c2a1a1a52..0d2101345 100644
--- a/v0.0.x/api/simulation/index.html
+++ b/v0.0.x/api/simulation/index.html
@@ -832,7 +832,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -840,8 +840,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -939,7 +1007,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -947,14 +1015,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1051,7 +1119,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1059,10 +1127,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1081,7 +1149,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1103,8 +1171,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1134,7 +1217,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1156,8 +1239,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1187,7 +1270,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1195,10 +1278,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1209,8 +1292,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1240,7 +1338,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1248,10 +1346,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1262,8 +1360,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1277,8 +1375,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1292,8 +1390,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1307,18 +1405,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1340,24 +1445,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1366,30 +1471,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1398,8 +1518,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1413,8 +1533,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1429,6 +1579,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1438,24 +1604,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1466,8 +1692,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1491,24 +1717,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1519,26 +1745,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1547,15 +1766,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1564,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1579,8 +1813,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1604,24 +1838,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1632,26 +1866,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1660,15 +1887,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1677,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1692,8 +1934,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1707,8 +1949,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1722,8 +1964,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1746,6 +1988,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1763,7 +2020,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1771,14 +2028,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1793,7 +2050,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1801,14 +2058,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1823,7 +2080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1831,14 +2088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1876,7 +2133,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1884,14 +2141,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1937,14 +2194,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1982,7 +2239,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1990,14 +2247,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2081,7 +2338,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2089,14 +2346,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/api/synchronization/index.html b/v0.0.x/api/synchronization/index.html
index b9dbc47d4..45775ebff 100644
--- a/v0.0.x/api/synchronization/index.html
+++ b/v0.0.x/api/synchronization/index.html
@@ -827,7 +827,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -835,8 +835,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -934,7 +1002,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -942,14 +1010,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1046,7 +1114,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1054,10 +1122,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1076,7 +1144,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1098,8 +1166,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1129,7 +1212,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1151,8 +1234,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1182,7 +1265,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1190,10 +1273,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1204,8 +1287,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1235,7 +1333,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1243,10 +1341,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1257,8 +1355,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1272,8 +1370,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1287,8 +1385,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1302,18 +1400,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1335,24 +1440,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1361,30 +1466,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1393,8 +1513,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1408,8 +1528,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1424,6 +1574,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1433,24 +1599,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1461,8 +1687,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1486,24 +1712,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1514,26 +1740,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1542,15 +1761,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1559,8 +1793,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1574,8 +1808,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1599,24 +1833,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1627,26 +1861,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1655,15 +1882,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1672,8 +1914,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1687,8 +1929,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1702,8 +1944,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1717,8 +1959,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1741,6 +1983,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1758,7 +2015,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1766,14 +2023,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1788,7 +2045,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1796,14 +2053,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1818,7 +2075,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1826,14 +2083,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1871,7 +2128,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1879,14 +2136,14 @@
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+            <label for="__nav_3_1_3_1_2">
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-            <label for="__nav_3_1_2_1_3">
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@@ -1985,14 +2242,14 @@
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-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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diff --git a/v0.0.x/development/documentation/index.html b/v0.0.x/development/documentation/index.html
index ea96e75fe..f11c21af5 100644
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+++ b/v0.0.x/development/documentation/index.html
@@ -884,7 +884,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
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@@ -892,8 +892,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
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+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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           <a href="../../api/sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -1103,7 +1171,7 @@
       
         
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-          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
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@@ -1111,10 +1179,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
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           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1133,7 +1201,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
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               <span class="md-nav__icon md-icon"></span>
@@ -1155,8 +1223,23 @@
   
   
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-      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
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@@ -1186,7 +1269,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
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@@ -1208,8 +1291,8 @@
   
   
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-      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
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@@ -1239,7 +1322,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
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@@ -1247,10 +1330,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
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           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
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@@ -1261,8 +1344,23 @@
   
   
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-      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1292,7 +1390,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
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               <span class="md-nav__icon md-icon"></span>
@@ -1300,10 +1398,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
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           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
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@@ -1314,8 +1412,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
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@@ -1329,8 +1427,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
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@@ -1344,8 +1442,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
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@@ -1359,18 +1457,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1392,24 +1497,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
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@@ -1418,30 +1523,45 @@
   
   
   
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-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1450,8 +1570,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1465,8 +1585,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1481,6 +1631,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1490,24 +1656,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1518,8 +1744,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1543,24 +1769,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1571,26 +1797,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1599,15 +1818,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1616,8 +1850,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1631,8 +1865,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1656,24 +1890,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1684,26 +1918,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1712,15 +1939,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1729,8 +1971,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../../api/sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1744,8 +1986,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1759,8 +2001,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1774,8 +2016,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1798,6 +2040,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
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@@ -1815,7 +2072,7 @@
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diff --git a/v0.0.x/development/installation/index.html b/v0.0.x/development/installation/index.html
index 9e5c71e3c..b187702d0 100644
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@@ -891,7 +891,7 @@
       
         
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-          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
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+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
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+            
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-          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
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@@ -1118,10 +1186,10 @@
           
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-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1140,7 +1208,7 @@
       
         
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-          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
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@@ -1162,8 +1230,23 @@
   
   
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-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
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@@ -1193,7 +1276,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
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@@ -1215,8 +1298,8 @@
   
   
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-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
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@@ -1246,7 +1329,7 @@
       
         
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-          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
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@@ -1254,10 +1337,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
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           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
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@@ -1268,8 +1351,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1299,7 +1397,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
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@@ -1307,10 +1405,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
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           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
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@@ -1321,8 +1419,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
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@@ -1336,8 +1434,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
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@@ -1351,8 +1449,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1366,18 +1464,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1399,24 +1504,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1425,30 +1530,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1457,8 +1577,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1472,8 +1592,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1488,6 +1638,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1497,24 +1663,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1525,8 +1751,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1550,24 +1776,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1578,26 +1804,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1606,15 +1825,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1623,8 +1857,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1638,8 +1872,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1663,24 +1897,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1691,26 +1925,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1719,15 +1946,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1736,8 +1978,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../../api/sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1751,8 +1993,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1766,8 +2008,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1781,8 +2023,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1805,6 +2047,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
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-            <label for="__nav_3_1_2">
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+        <label class="md-nav__title" for="__nav_3_1_3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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           <a href="../../api/sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
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           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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           <a href="../../api/sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
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@@ -1943,14 +2200,14 @@
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           <a href="../../api/sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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@@ -1996,14 +2253,14 @@
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           <a href="../../api/sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
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@@ -2049,14 +2306,14 @@
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           <a href="../../api/sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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           <span class="md-ellipsis">Properties</span>
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@@ -2140,7 +2397,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2148,14 +2405,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../../api/dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/development/linter/index.html b/v0.0.x/development/linter/index.html
index 3d4ee844b..d0d61eda9 100644
--- a/v0.0.x/development/linter/index.html
+++ b/v0.0.x/development/linter/index.html
@@ -891,7 +891,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -899,8 +899,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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@@ -998,7 +1066,7 @@
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@@ -1006,14 +1074,14 @@
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-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1110,7 +1178,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1118,10 +1186,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1140,7 +1208,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1162,8 +1230,23 @@
   
   
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-      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1193,7 +1276,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1215,8 +1298,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
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@@ -1246,7 +1329,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
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@@ -1254,10 +1337,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
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           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
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@@ -1268,8 +1351,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1299,7 +1397,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1307,10 +1405,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1321,8 +1419,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1336,8 +1434,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1351,8 +1449,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1366,18 +1464,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1399,24 +1504,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1425,30 +1530,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1457,8 +1577,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1472,8 +1592,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1488,6 +1638,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1497,24 +1663,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1525,8 +1751,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1550,24 +1776,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1578,26 +1804,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1606,15 +1825,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1623,8 +1857,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1638,8 +1872,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1691,26 +1925,19 @@
   
   
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-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
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     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1719,15 +1946,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
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+      
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+          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
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     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../../api/sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
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@@ -1766,8 +2008,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
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@@ -1781,8 +2023,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1805,6 +2047,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
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-            <label for="__nav_3_1_2_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
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           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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-            <label for="__nav_3_1_2_1_2">
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-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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           <a href="../../api/dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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diff --git a/v0.0.x/development/unit-tests/index.html b/v0.0.x/development/unit-tests/index.html
index ab7f6e208..5cd990f29 100644
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@@ -891,7 +891,7 @@
       
         
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-          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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@@ -899,8 +899,76 @@
           
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-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
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+
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+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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+              <span class="md-nav__icon md-icon"></span>
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+            <label for="__nav_3_1_1_1_5">
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-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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@@ -1110,7 +1178,7 @@
       
         
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-          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
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@@ -1118,10 +1186,10 @@
           
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+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1140,7 +1208,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1162,8 +1230,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1193,7 +1276,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1215,8 +1298,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1246,7 +1329,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1254,10 +1337,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1268,8 +1351,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1299,7 +1397,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1307,10 +1405,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1321,8 +1419,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1336,8 +1434,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1351,8 +1449,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1366,18 +1464,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1399,24 +1504,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1425,30 +1530,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
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-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1457,8 +1577,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1472,8 +1592,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1488,6 +1638,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1497,24 +1663,84 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1525,8 +1751,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
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@@ -1550,24 +1776,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
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@@ -1578,26 +1804,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1606,15 +1825,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1623,8 +1857,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1638,8 +1872,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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-          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
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@@ -1691,26 +1925,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1719,15 +1946,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1736,8 +1978,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../../api/sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1751,8 +1993,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
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@@ -1766,8 +2008,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
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@@ -1781,8 +2023,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1805,6 +2047,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
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@@ -1822,7 +2079,7 @@
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           <a href="../../api/dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
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-            <label for="__nav_3_1_2_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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-            <label for="__nav_3_1_2_1_1">
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           <a href="../../api/sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
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-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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           <a href="../../api/dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
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+        <label class="md-nav__title" for="__nav_3_1_4">
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diff --git a/v0.0.x/examples/farrow-resampler/index.html b/v0.0.x/examples/farrow-resampler/index.html
index 0f834af6d..ee845da8b 100644
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-          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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               <span class="md-nav__icon md-icon"></span>
@@ -913,8 +913,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -1012,7 +1080,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
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@@ -1020,14 +1088,14 @@
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           <a href="../../api/sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1124,7 +1192,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1132,10 +1200,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1154,7 +1222,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1176,8 +1244,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1207,7 +1290,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1229,8 +1312,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1260,7 +1343,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1268,10 +1351,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1282,8 +1365,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1313,7 +1411,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1321,10 +1419,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1335,8 +1433,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1350,8 +1448,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1365,8 +1463,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1380,18 +1478,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1413,24 +1518,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1439,30 +1544,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1471,8 +1591,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1486,8 +1606,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1502,6 +1652,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1511,24 +1677,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1539,8 +1765,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
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@@ -1564,24 +1790,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
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               <span class="md-nav__icon md-icon"></span>
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         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
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@@ -1592,26 +1818,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1620,15 +1839,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1637,8 +1871,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1652,8 +1886,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1677,24 +1911,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
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-          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
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           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
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@@ -1705,26 +1939,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1733,15 +1960,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
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+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1750,8 +1992,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../../api/sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1765,8 +2007,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
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@@ -1780,8 +2022,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
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@@ -1795,8 +2037,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1819,6 +2061,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1836,7 +2093,7 @@
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-            <label for="__nav_3_1_2">
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-            <label for="__nav_3_1_2_1">
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           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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           <a href="../../api/sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
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@@ -2010,14 +2267,14 @@
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           <a href="../../api/sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
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+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2154,7 +2411,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2162,14 +2419,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../../api/dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/examples/fir-filters/index.html b/v0.0.x/examples/fir-filters/index.html
index dac98c437..aff5a3c88 100644
--- a/v0.0.x/examples/fir-filters/index.html
+++ b/v0.0.x/examples/fir-filters/index.html
@@ -905,7 +905,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -913,8 +913,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1012,7 +1080,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -1020,14 +1088,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../../api/sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1124,7 +1192,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1132,10 +1200,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1154,7 +1222,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1176,8 +1244,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1207,7 +1290,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1229,8 +1312,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1260,7 +1343,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1268,10 +1351,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1282,8 +1365,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1313,7 +1411,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1321,10 +1419,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1335,8 +1433,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1350,8 +1448,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1365,8 +1463,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1380,18 +1478,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1413,24 +1518,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1439,30 +1544,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1471,8 +1591,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1486,8 +1606,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1502,6 +1652,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1511,24 +1677,84 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1539,8 +1765,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1564,24 +1790,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1592,26 +1818,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1620,15 +1839,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1637,8 +1871,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1652,8 +1886,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1677,24 +1911,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1705,26 +1939,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1733,15 +1960,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1750,8 +1992,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../../api/sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1765,8 +2007,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1780,8 +2022,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1795,8 +2037,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1819,6 +2061,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1836,7 +2093,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1844,14 +2101,14 @@
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           <a href="../../api/dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1866,7 +2123,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1874,14 +2131,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../../api/sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1896,7 +2153,7 @@
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           <a href="../../api/dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
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diff --git a/v0.0.x/examples/iir-filters/index.html b/v0.0.x/examples/iir-filters/index.html
index b9842693c..d50678635 100644
--- a/v0.0.x/examples/iir-filters/index.html
+++ b/v0.0.x/examples/iir-filters/index.html
@@ -919,7 +919,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -927,8 +927,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
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+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -1026,7 +1094,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
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@@ -1034,14 +1102,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../../api/sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1138,7 +1206,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1146,10 +1214,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1168,7 +1236,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
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               <span class="md-nav__icon md-icon"></span>
@@ -1190,8 +1258,23 @@
   
   
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-      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
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@@ -1221,7 +1304,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
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               <span class="md-nav__icon md-icon"></span>
@@ -1243,8 +1326,8 @@
   
   
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-      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
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@@ -1274,7 +1357,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
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               <span class="md-nav__icon md-icon"></span>
@@ -1282,10 +1365,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
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           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
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@@ -1296,8 +1379,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1327,7 +1425,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1335,10 +1433,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
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@@ -1349,8 +1447,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1364,8 +1462,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1379,8 +1477,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1394,18 +1492,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1427,24 +1532,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
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-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1453,30 +1558,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1485,8 +1605,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1500,8 +1620,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1516,6 +1666,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1525,24 +1691,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1553,8 +1779,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1578,24 +1804,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1606,26 +1832,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1634,15 +1853,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1651,8 +1885,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1666,8 +1900,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1691,24 +1925,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1719,26 +1953,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1747,15 +1974,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1764,8 +2006,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../../api/sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1779,8 +2021,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1794,8 +2036,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1809,8 +2051,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
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+      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
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+              
+  
+  
+  
+  
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+      </a>
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+
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           <a href="../../api/sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
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diff --git a/v0.0.x/examples/peak-to-average-power/index.html b/v0.0.x/examples/peak-to-average-power/index.html
index ece3f6bf1..814106d62 100644
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@@ -891,7 +891,7 @@
       
         
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-          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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@@ -899,8 +899,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
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+            
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-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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-          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
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@@ -1118,10 +1186,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
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-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1140,7 +1208,7 @@
       
         
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-          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
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               <span class="md-nav__icon md-icon"></span>
@@ -1162,8 +1230,23 @@
   
   
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+      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
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@@ -1193,7 +1276,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
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               <span class="md-nav__icon md-icon"></span>
@@ -1215,8 +1298,8 @@
   
   
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-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
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@@ -1246,7 +1329,7 @@
       
         
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-          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
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@@ -1254,10 +1337,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
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           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
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@@ -1268,8 +1351,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
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+      <a href="../../api/sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1299,7 +1397,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
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               <span class="md-nav__icon md-icon"></span>
@@ -1307,10 +1405,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
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           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
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@@ -1321,8 +1419,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
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@@ -1336,8 +1434,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1351,8 +1449,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1366,18 +1464,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1399,24 +1504,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1425,30 +1530,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1457,8 +1577,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1472,8 +1592,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1488,6 +1638,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1497,24 +1663,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1525,8 +1751,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1550,24 +1776,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1578,26 +1804,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1606,15 +1825,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1623,8 +1857,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1638,8 +1872,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1663,24 +1897,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1691,26 +1925,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1719,15 +1946,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1736,8 +1978,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../../api/sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1751,8 +1993,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1766,8 +2008,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1781,8 +2023,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1805,6 +2047,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
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           <a href="../../api/dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
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+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
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           <a href="../../api/sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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           <a href="../../api/sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
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           <a href="../../api/sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
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-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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@@ -1996,14 +2253,14 @@
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           <a href="../../api/sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
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@@ -2049,14 +2306,14 @@
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           <a href="../../api/sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2148,14 +2405,14 @@
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           <a href="../../api/dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/examples/phase-locked-loop/index.html b/v0.0.x/examples/phase-locked-loop/index.html
index 2216a6b3b..86de7e5c9 100644
--- a/v0.0.x/examples/phase-locked-loop/index.html
+++ b/v0.0.x/examples/phase-locked-loop/index.html
@@ -918,7 +918,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -926,8 +926,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -1025,7 +1093,7 @@
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-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
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@@ -1137,7 +1205,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1145,10 +1213,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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@@ -1167,7 +1235,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1189,8 +1257,23 @@
   
   
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-      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1220,7 +1303,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
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               <span class="md-nav__icon md-icon"></span>
@@ -1242,8 +1325,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
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@@ -1273,7 +1356,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1281,10 +1364,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1295,8 +1378,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1326,7 +1424,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1334,10 +1432,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1348,8 +1446,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1363,8 +1461,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1378,8 +1476,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1393,18 +1491,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1426,24 +1531,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1452,30 +1557,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
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-      
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-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1484,8 +1604,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1499,8 +1619,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1515,6 +1665,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1524,24 +1690,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1552,8 +1778,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1577,24 +1803,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1605,26 +1831,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1633,15 +1852,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1650,8 +1884,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1665,8 +1899,8 @@
   
   
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-      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
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+      <a href="../../api/sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
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-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1746,15 +1973,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
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+      
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+          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
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+            <label for="__nav_3_1_2_1_5">
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+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
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-      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../../api/sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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-      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
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@@ -1793,8 +2035,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
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@@ -1808,8 +2050,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1832,6 +2074,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
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-            <label for="__nav_3_1_2_1">
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
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           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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-            <label for="__nav_3_1_3">
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diff --git a/v0.0.x/examples/psk/index.html b/v0.0.x/examples/psk/index.html
index 7677ffb80..fcb6304dd 100644
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-          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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@@ -946,8 +946,76 @@
           
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-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
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+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
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+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
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+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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+            <label for="__nav_3_1_1_1_5">
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-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
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@@ -1157,7 +1225,7 @@
       
         
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-          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
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@@ -1165,10 +1233,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1187,7 +1255,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1209,8 +1277,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1240,7 +1323,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1262,8 +1345,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1293,7 +1376,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1301,10 +1384,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1315,8 +1398,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1346,7 +1444,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1354,10 +1452,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1368,8 +1466,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1383,8 +1481,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1398,8 +1496,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1413,18 +1511,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1446,24 +1551,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1472,30 +1577,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1504,8 +1624,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1519,8 +1639,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1535,6 +1685,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1544,24 +1710,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1572,8 +1798,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1597,24 +1823,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1625,26 +1851,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1653,15 +1872,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1670,8 +1904,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1685,8 +1919,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1710,24 +1944,24 @@
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
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           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
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@@ -1738,26 +1972,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1766,15 +1993,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
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+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
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+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1783,8 +2025,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../../api/sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1798,8 +2040,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
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@@ -1813,8 +2055,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
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@@ -1828,8 +2070,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1852,6 +2094,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1869,7 +2126,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1877,14 +2134,14 @@
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           <a href="../../api/dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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           <a href="../../api/sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1929,7 +2186,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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@@ -1937,14 +2194,14 @@
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           <a href="../../api/sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
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@@ -1990,14 +2247,14 @@
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           <a href="../../api/sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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@@ -2043,14 +2300,14 @@
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           <a href="../../api/sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
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@@ -2096,14 +2353,14 @@
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           <a href="../../api/sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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@@ -2187,7 +2444,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2195,14 +2452,14 @@
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           <a href="../../api/dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
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diff --git a/v0.0.x/examples/pulse-shapes/index.html b/v0.0.x/examples/pulse-shapes/index.html
index afcf70ae9..de6b7a50a 100644
--- a/v0.0.x/examples/pulse-shapes/index.html
+++ b/v0.0.x/examples/pulse-shapes/index.html
@@ -884,7 +884,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
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               <span class="md-nav__icon md-icon"></span>
@@ -892,8 +892,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -991,7 +1059,7 @@
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@@ -999,14 +1067,14 @@
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           <a href="../../api/sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1103,7 +1171,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1111,10 +1179,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
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         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1133,7 +1201,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1155,8 +1223,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1186,7 +1269,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1208,8 +1291,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1239,7 +1322,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1247,10 +1330,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1261,8 +1344,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1292,7 +1390,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1300,10 +1398,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1314,8 +1412,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1329,8 +1427,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1344,8 +1442,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1359,18 +1457,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1392,24 +1497,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1418,30 +1523,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
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-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1450,8 +1570,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1465,8 +1585,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1481,6 +1631,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1490,24 +1656,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1518,8 +1744,8 @@
   
   
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-      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
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@@ -1543,24 +1769,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
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-          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
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               <span class="md-nav__icon md-icon"></span>
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         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
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@@ -1571,26 +1797,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1599,15 +1818,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1616,8 +1850,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1631,8 +1865,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1656,24 +1890,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
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-          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
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           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
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@@ -1684,26 +1918,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1712,15 +1939,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
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+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
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+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
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@@ -1729,8 +1971,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../../api/sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1744,8 +1986,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
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@@ -1759,8 +2001,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
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@@ -1774,8 +2016,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1798,6 +2040,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
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@@ -1815,7 +2072,7 @@
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-            <label for="__nav_3_1_2">
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-            <label for="__nav_3_1_2_1">
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           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -2034,7 +2291,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -2042,14 +2299,14 @@
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           <a href="../../api/sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2133,7 +2390,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2141,14 +2398,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../../api/dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
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diff --git a/v0.0.x/genindex/index.html b/v0.0.x/genindex/index.html
index a0e24fb5f..7dd3cf2bb 100644
--- a/v0.0.x/genindex/index.html
+++ b/v0.0.x/genindex/index.html
@@ -825,7 +825,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../api/sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -833,8 +833,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -932,7 +1000,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -940,14 +1008,14 @@
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           <a href="../api/sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1044,7 +1112,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1052,10 +1120,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1074,7 +1142,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1096,8 +1164,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../api/sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1127,7 +1210,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1149,8 +1232,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../api/sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1180,7 +1263,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../api/sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1188,10 +1271,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1202,8 +1285,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../api/sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1233,7 +1331,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1241,10 +1339,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1255,8 +1353,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../api/sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1270,8 +1368,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1285,8 +1383,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../api/sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1300,18 +1398,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../api/sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../api/sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1333,24 +1438,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1359,30 +1464,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1391,8 +1511,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../api/sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1406,8 +1526,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../api/sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1422,6 +1572,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1431,24 +1597,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../api/dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1459,8 +1685,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1484,24 +1710,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1512,26 +1738,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1540,15 +1759,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../api/sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../api/sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1557,8 +1791,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../api/sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1572,8 +1806,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../api/sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1597,24 +1831,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1625,26 +1859,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../api/sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1653,15 +1880,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../api/sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1670,8 +1912,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../api/sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1685,8 +1927,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1700,8 +1942,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1715,8 +1957,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1739,6 +1981,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1756,7 +2013,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1764,14 +2021,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../api/dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1786,7 +2043,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1794,14 +2051,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../api/sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1816,7 +2073,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1824,14 +2081,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../api/sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1869,7 +2126,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1877,14 +2134,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../api/sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1922,7 +2179,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1930,14 +2187,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../api/sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1975,7 +2232,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1983,14 +2240,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../api/sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2074,7 +2331,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2082,14 +2339,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../api/dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/index.html b/v0.0.x/index.html
index b81dffc60..3df6111a4 100644
--- a/v0.0.x/index.html
+++ b/v0.0.x/index.html
@@ -828,7 +828,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="api/sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -836,8 +836,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="api/sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="api/sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -935,7 +1003,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -943,14 +1011,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="api/sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1047,7 +1115,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1055,10 +1123,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1077,7 +1145,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1099,8 +1167,23 @@
   
   
     <li class="md-nav__item">
-      <a href="api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="api/sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="api/sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1130,7 +1213,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1152,8 +1235,8 @@
   
   
     <li class="md-nav__item">
-      <a href="api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="api/sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1183,7 +1266,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="api/sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1191,10 +1274,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1205,8 +1288,23 @@
   
   
     <li class="md-nav__item">
-      <a href="api/sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="api/sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="api/sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1236,7 +1334,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1244,10 +1342,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1258,8 +1356,8 @@
   
   
     <li class="md-nav__item">
-      <a href="api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="api/sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1273,8 +1371,8 @@
   
   
     <li class="md-nav__item">
-      <a href="api/sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="api/sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1288,8 +1386,8 @@
   
   
     <li class="md-nav__item">
-      <a href="api/sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="api/sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1303,18 +1401,25 @@
   
   
     <li class="md-nav__item">
-      <a href="api/sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="api/sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="api/sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1336,24 +1441,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1362,30 +1467,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="api/sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="api/sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="api/sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1394,8 +1514,8 @@
   
   
     <li class="md-nav__item">
-      <a href="api/sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="api/sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1409,8 +1529,38 @@
   
   
     <li class="md-nav__item">
-      <a href="api/sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="api/sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="api/sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="api/sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1425,6 +1575,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1434,24 +1600,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="api/dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1462,8 +1688,8 @@
   
   
     <li class="md-nav__item">
-      <a href="api/sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1487,24 +1713,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1515,26 +1741,19 @@
   
   
     <li class="md-nav__item">
-      <a href="api/sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="api/sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1543,15 +1762,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="api/sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="api/sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1560,8 +1794,8 @@
   
   
     <li class="md-nav__item">
-      <a href="api/sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="api/sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1575,8 +1809,8 @@
   
   
     <li class="md-nav__item">
-      <a href="api/sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="api/sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1600,24 +1834,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1628,26 +1862,19 @@
   
   
     <li class="md-nav__item">
-      <a href="api/sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="api/sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="api/sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1656,15 +1883,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="api/sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1673,8 +1915,8 @@
   
   
     <li class="md-nav__item">
-      <a href="api/sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="api/sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1688,8 +1930,8 @@
   
   
     <li class="md-nav__item">
-      <a href="api/sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1703,8 +1945,8 @@
   
   
     <li class="md-nav__item">
-      <a href="api/sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="api/sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1718,8 +1960,8 @@
   
   
     <li class="md-nav__item">
-      <a href="api/sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="api/sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1742,6 +1984,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="api/sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1759,7 +2016,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
       
       
       
@@ -1767,14 +2024,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="api/dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
         </label>
@@ -1789,7 +2046,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1797,14 +2054,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="api/sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1819,7 +2076,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1827,14 +2084,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="api/sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1872,7 +2129,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_2" type="checkbox" id="__nav_3_1_3_1_2" >
       
       
       
@@ -1880,14 +2137,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="api/sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
         </label>
@@ -1925,7 +2182,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_3" type="checkbox" id="__nav_3_1_3_1_3" >
       
       
       
@@ -1933,14 +2190,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="api/sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1978,7 +2235,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1986,14 +2243,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="api/sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2077,7 +2334,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2085,14 +2342,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="api/dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/objects.inv b/v0.0.x/objects.inv
index f5e3b97f0..6ad00df5e 100644
Binary files a/v0.0.x/objects.inv and b/v0.0.x/objects.inv differ
diff --git a/v0.0.x/py-modindex/index.html b/v0.0.x/py-modindex/index.html
index 86f9672af..8df636675 100644
--- a/v0.0.x/py-modindex/index.html
+++ b/v0.0.x/py-modindex/index.html
@@ -830,7 +830,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../api/sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -838,8 +838,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -937,7 +1005,7 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_5" type="checkbox" id="__nav_3_1_1_1_5" >
       
       
       
@@ -945,14 +1013,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../api/sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1049,7 +1117,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1057,10 +1125,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1079,7 +1147,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1101,8 +1169,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../api/sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1132,7 +1215,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1154,8 +1237,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../api/sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1185,7 +1268,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../api/sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1193,10 +1276,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1207,8 +1290,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../api/sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1238,7 +1336,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1246,10 +1344,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1260,8 +1358,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../api/sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1275,8 +1373,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1290,8 +1388,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../api/sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1305,18 +1403,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../api/sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../api/sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1338,24 +1443,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1364,30 +1469,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1396,8 +1516,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../api/sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1411,8 +1531,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../api/sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1427,6 +1577,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1436,24 +1602,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../api/dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1464,8 +1690,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
     </li>
   
@@ -1489,24 +1715,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1517,26 +1743,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1545,15 +1764,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../api/sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../api/sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1562,8 +1796,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../api/sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
       </a>
     </li>
   
@@ -1577,8 +1811,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../api/sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1602,24 +1836,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_4" type="checkbox" id="__nav_3_1_1_3_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_1_3_4">
+            <label for="__nav_3_1_2_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_4">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1630,26 +1864,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../api/sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1658,15 +1885,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../api/sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1675,8 +1917,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../api/sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
       </a>
     </li>
   
@@ -1690,8 +1932,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1705,8 +1947,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
     </li>
   
@@ -1720,8 +1962,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../api/sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1744,6 +1986,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../api/sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1761,7 +2018,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
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@@ -1769,14 +2026,14 @@
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           <a href="../api/dsp/#resampling"><span class="md-ellipsis">Resampling</span></a>
           
-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
               <span class="md-nav__icon md-icon"></span>
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         </div>
       
       <nav class="md-nav" aria-label="Resampling" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Resampling</span>
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@@ -1791,7 +2048,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1" type="checkbox" id="__nav_3_1_3_1" >
       
       
       
@@ -1799,14 +2056,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../api/sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
         </label>
@@ -1821,7 +2078,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_1" type="checkbox" id="__nav_3_1_3_1_1" >
       
       
       
@@ -1829,14 +2086,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../api/sdr.FarrowResampler/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1_1">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Constructors</span>
         </label>
@@ -1874,7 +2131,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
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@@ -1882,14 +2139,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../api/sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
+        <label class="md-nav__title" for="__nav_3_1_3_1_2">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Special methods</span>
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@@ -1927,7 +2184,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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@@ -1935,14 +2192,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../api/sdr.FarrowResampler/#methods"><span class="md-ellipsis">Methods</span></a>
           
-            <label for="__nav_3_1_2_1_3">
+            <label for="__nav_3_1_3_1_3">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+        <label class="md-nav__title" for="__nav_3_1_3_1_3">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
         </label>
@@ -1980,7 +2237,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_4" type="checkbox" id="__nav_3_1_2_1_4" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3_1_4" type="checkbox" id="__nav_3_1_3_1_4" >
       
       
       
@@ -1988,14 +2245,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../api/sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -2079,7 +2336,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_4" type="checkbox" id="__nav_3_1_4" >
       
       
       
@@ -2087,14 +2344,14 @@
         <div class="md-nav__link md-nav__link--index ">
           <a href="../api/dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
-        <label class="md-nav__title" for="__nav_3_1_3">
+        <label class="md-nav__title" for="__nav_3_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Signal manipulation</span>
         </label>
diff --git a/v0.0.x/release-notes/v0.0/index.html b/v0.0.x/release-notes/v0.0/index.html
index 189d90bd2..93d3a7cfb 100644
--- a/v0.0.x/release-notes/v0.0/index.html
+++ b/v0.0.x/release-notes/v0.0/index.html
@@ -830,7 +830,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_1_3">
               <span class="md-nav__icon md-icon"></span>
@@ -838,8 +838,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Methods</span>
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@@ -937,7 +1005,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
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@@ -945,14 +1013,14 @@
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           <a href="../../api/sdr.FIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
           <span class="md-nav__icon md-icon"></span>
           <span class="md-ellipsis">Properties</span>
         </label>
@@ -1049,7 +1117,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1057,10 +1125,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1079,7 +1147,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1101,8 +1169,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1132,7 +1215,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1154,8 +1237,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1185,7 +1268,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1193,10 +1276,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1207,8 +1290,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1238,7 +1336,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1246,10 +1344,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
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@@ -1260,8 +1358,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1275,8 +1373,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1290,8 +1388,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1305,18 +1403,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1338,24 +1443,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1364,30 +1469,45 @@
   
   
   
-    
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-      
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-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1396,8 +1516,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1411,8 +1531,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1427,6 +1577,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1436,24 +1602,84 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
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+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1464,8 +1690,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
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@@ -1489,24 +1715,24 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_3" type="checkbox" id="__nav_3_1_1_3_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_2" type="checkbox" id="__nav_3_1_2_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
+            <label for="__nav_3_1_2_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">Special methods</span>
         </label>
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@@ -1517,26 +1743,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1545,15 +1764,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_3" type="checkbox" id="__nav_3_1_2_1_3" >
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+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1562,8 +1796,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1577,8 +1811,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1602,24 +1836,24 @@
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-          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
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+        <label class="md-nav__title" for="__nav_3_1_2_1_4">
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-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
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@@ -1630,26 +1864,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1658,15 +1885,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_5" type="checkbox" id="__nav_3_1_2_1_5" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
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+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
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@@ -1675,8 +1917,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../../api/sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1690,8 +1932,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
       </a>
     </li>
   
@@ -1705,8 +1947,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
       </a>
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@@ -1720,8 +1962,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1744,6 +1986,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
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@@ -1769,14 +2026,14 @@
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-            <label for="__nav_3_1_2">
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+        <label class="md-nav__title" for="__nav_3_1_3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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@@ -1799,14 +2056,14 @@
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           <a href="../../api/sdr.FarrowResampler/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span></a>
           
-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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@@ -1821,7 +2078,7 @@
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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           <a href="../../api/sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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-            <label for="__nav_3_1_2_1_3">
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@@ -1988,14 +2245,14 @@
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           <a href="../../api/sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="Properties" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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@@ -2087,14 +2344,14 @@
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           <a href="../../api/dsp/#signal-manipulation"><span class="md-ellipsis">Signal manipulation</span></a>
           
-            <label for="__nav_3_1_3">
+            <label for="__nav_3_1_4">
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       <nav class="md-nav" aria-label="Signal manipulation" data-md-level="3">
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+        <label class="md-nav__title" for="__nav_3_1_4">
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diff --git a/v0.0.x/release-notes/versioning/index.html b/v0.0.x/release-notes/versioning/index.html
index 832d49ff2..b9531f7a6 100644
--- a/v0.0.x/release-notes/versioning/index.html
+++ b/v0.0.x/release-notes/versioning/index.html
@@ -830,7 +830,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
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               <span class="md-nav__icon md-icon"></span>
@@ -838,8 +838,76 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.FIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+        </ul>
+      </nav>
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+  
+
+            
+          
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+              
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+  
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          
+            <label for="__nav_3_1_1_1_4">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
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+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_1_4" type="checkbox" id="__nav_3_1_1_1_4" >
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-            <label for="__nav_3_1_1_1_4">
+            <label for="__nav_3_1_1_1_5">
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-        <label class="md-nav__title" for="__nav_3_1_1_1_4">
+        <label class="md-nav__title" for="__nav_3_1_1_1_5">
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           <span class="md-ellipsis">Properties</span>
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@@ -1049,7 +1117,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
           
             <label for="__nav_3_1_1_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1057,10 +1125,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+      <nav class="md-nav" aria-label="IIR" data-md-level="4">
         <label class="md-nav__title" for="__nav_3_1_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1079,7 +1147,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
           
             <label for="__nav_3_1_1_2_1">
               <span class="md-nav__icon md-icon"></span>
@@ -1101,8 +1169,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
       </a>
     </li>
   
@@ -1132,7 +1215,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
             <label for="__nav_3_1_1_2_2">
               <span class="md-nav__icon md-icon"></span>
@@ -1154,8 +1237,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
@@ -1185,7 +1268,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.IIR/#string-representation"><span class="md-ellipsis">String representation</span></a>
           
             <label for="__nav_3_1_1_2_3">
               <span class="md-nav__icon md-icon"></span>
@@ -1193,10 +1276,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_3">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Methods</span>
+          <span class="md-ellipsis">String representation</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1207,8 +1290,23 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.IIR.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
       </a>
     </li>
   
@@ -1238,7 +1336,7 @@
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
           
             <label for="__nav_3_1_1_2_4">
               <span class="md-nav__icon md-icon"></span>
@@ -1246,10 +1344,10 @@
           
         </div>
       
-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+      <nav class="md-nav" aria-label="Methods" data-md-level="5">
         <label class="md-nav__title" for="__nav_3_1_1_2_4">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Properties</span>
+          <span class="md-ellipsis">Methods</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1260,8 +1358,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
+      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
       </a>
     </li>
   
@@ -1275,8 +1373,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
+      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
       </a>
     </li>
   
@@ -1290,8 +1388,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
       </a>
     </li>
   
@@ -1305,18 +1403,25 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
+      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-        </ul>
-      </nav>
-    </li>
+            
+              
+  
+  
+  
   
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      </a>
+    </li>
   
 
             
@@ -1338,24 +1443,24 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3" type="checkbox" id="__nav_3_1_1_3" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_2_5" type="checkbox" id="__nav_3_1_1_2_5" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span></a>
+          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_1_3">
+            <label for="__nav_3_1_1_2_5">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="IIR" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_1_3">
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_1_2_5">
           <span class="md-nav__icon md-icon"></span>
-          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.IIR (Python class) — Implements an infinite impulse response (IIR) filter." class="md-ellipsis">IIR</span>
+          <span class="md-ellipsis">Properties</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1364,30 +1469,45 @@
   
   
   
-    
-    <li class="md-nav__item md-nav__item--nested">
-      
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_1" type="checkbox" id="__nav_3_1_1_3_1" >
-      
-      
-      
-        
-        <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#constructors"><span class="md-ellipsis">Constructors</span></a>
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-            <label for="__nav_3_1_1_3_1">
-              <span class="md-nav__icon md-icon"></span>
-            </label>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
+      </a>
+    </li>
+  
+
+            
           
-        </div>
-      
-      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_1">
-          <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Constructors</span>
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
+      </a>
+    </li>
+  
+
+            
           
             
               
@@ -1396,8 +1516,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__init__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__init__ (Python method) — Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$." class="md-ellipsis">__<wbr>init__<wbr></span>
+      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
       </a>
     </li>
   
@@ -1411,8 +1531,38 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.ZerosPoles/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.ZerosPoles (Python method) — Creates an IIR filter from its zeros, poles, and gain." class="md-ellipsis">Zeros<wbr>Poles</span>
+      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      </a>
+    </li>
+  
+
+            
+          
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
       </a>
     </li>
   
@@ -1427,6 +1577,22 @@
 
             
           
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
+        </ul>
+      </nav>
+    </li>
+  
+  
+
+            
+          
             
               
   
@@ -1436,24 +1602,84 @@
     <li class="md-nav__item md-nav__item--nested">
       
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_1_3_2" type="checkbox" id="__nav_3_1_1_3_2" >
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2" type="checkbox" id="__nav_3_1_2" >
       
       
       
         
         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#special-methods"><span class="md-ellipsis">Special methods</span></a>
+          <a href="../../api/dsp/#multirate-filtering"><span class="md-ellipsis">Multirate filtering</span></a>
           
-            <label for="__nav_3_1_1_3_2">
+            <label for="__nav_3_1_2">
               <span class="md-nav__icon md-icon"></span>
             </label>
           
         </div>
       
-      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_2">
+      <nav class="md-nav" aria-label="Multirate filtering" data-md-level="3">
+        <label class="md-nav__title" for="__nav_3_1_2">
           <span class="md-nav__icon md-icon"></span>
-          <span class="md-ellipsis">Special methods</span>
+          <span class="md-ellipsis">Multirate filtering</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/"><span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span></a>
+          
+            <label for="__nav_3_1_2_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="FIRInterpolator" data-md-level="4">
+        <label class="md-nav__title" for="__nav_3_1_2_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FIRInterpolator (Python class) — Implements a polyphase finite impulse response (FIR) interpolating filter." class="md-ellipsis">FIRInterpolator</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
+          
+            
+              
+  
+  
+  
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
+        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1_1" type="checkbox" id="__nav_3_1_2_1_1" >
+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#constructors"><span class="md-ellipsis">Constructors</span></a>
+          
+            <label for="__nav_3_1_2_1_1">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Constructors" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_1">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Constructors</span>
         </label>
         <ul class="md-nav__list" data-md-scrollfix>
           
@@ -1464,8 +1690,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.__call__/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.__call__ (Python method) — Filters the input signal $x[n]$ with the IIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
+      <a href="../../api/sdr.FIRInterpolator.__init__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__init__ (Python method) — Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$." class="md-ellipsis">__<wbr>init__<wbr></span>
       </a>
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@@ -1489,24 +1715,24 @@
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         <div class="md-nav__link md-nav__link--index ">
-          <a href="../../api/sdr.IIR/#methods"><span class="md-ellipsis">Methods</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_1_3_3">
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-      <nav class="md-nav" aria-label="Methods" data-md-level="5">
-        <label class="md-nav__title" for="__nav_3_1_1_3_3">
+      <nav class="md-nav" aria-label="Special methods" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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-          <span class="md-ellipsis">Methods</span>
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@@ -1517,26 +1743,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response (Python method) — Returns the frequency response $H(f)$ of the IIR filter." class="md-ellipsis">frequency_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__call__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__call__ (Python method) — Filters and interpolates the input signal $x[n]$ with the FIR filter." class="md-ellipsis">__<wbr>call__<wbr></span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.frequency_response_log/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.frequency_response_log (Python method) — Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis." class="md-ellipsis">frequency_<wbr>response_<wbr>log</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1545,15 +1764,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.impulse_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.impulse_response (Python method) — Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$." class="md-ellipsis">impulse_<wbr>response</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+      
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+      
+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#string-representation"><span class="md-ellipsis">String representation</span></a>
+          
+            <label for="__nav_3_1_2_1_3">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="String representation" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_3">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">String representation</span>
+        </label>
+        <ul class="md-nav__list" data-md-scrollfix>
           
             
               
@@ -1562,8 +1796,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.reset/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
+      <a href="../../api/sdr.FIRInterpolator.__repr__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__repr__ (Python method) — Returns a code-styled string representation of the object." class="md-ellipsis">__<wbr>repr__<wbr></span>
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@@ -1577,8 +1811,8 @@
   
   
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-      <a href="../../api/sdr.IIR.step_response/" class="md-nav__link">
-        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.IIR.step_response (Python method) — Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$." class="md-ellipsis">step_<wbr>response</span>
+      <a href="../../api/sdr.FIRInterpolator.__str__/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.__str__ (Python method) — Returns a human-readable string representation of the object." class="md-ellipsis">__<wbr>str__<wbr></span>
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@@ -1602,24 +1836,24 @@
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-          <a href="../../api/sdr.IIR/#properties"><span class="md-ellipsis">Properties</span></a>
+          <a href="../../api/sdr.FIRInterpolator/#methods"><span class="md-ellipsis">Methods</span></a>
           
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-      <nav class="md-nav" aria-label="Properties" data-md-level="5">
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-          <span class="md-ellipsis">Properties</span>
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@@ -1630,26 +1864,19 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.a_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.a_taps (Python property) — The feedback taps $a_j$." class="md-ellipsis">a_<wbr>taps</span>
+      <a href="../../api/sdr.FIRInterpolator.reset/" class="md-nav__link">
+        <span aria-label="Python method" class="objinfo-icon objinfo-icon__procedure" title="Python method">M</span><span title="sdr.FIRInterpolator.reset (Python method) — Streaming-mode only: Resets the filter state." class="md-ellipsis">reset</span>
       </a>
     </li>
   
 
             
           
-            
-              
-  
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.b_taps/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.b_taps (Python property) — The feedforward taps $b_i$." class="md-ellipsis">b_<wbr>taps</span>
-      </a>
+        </ul>
+      </nav>
     </li>
   
+  
 
             
           
@@ -1658,15 +1885,30 @@
   
   
   
-  
-    <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.gain/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.gain (Python property) — The gain of the IIR filter." class="md-ellipsis">gain</span>
-      </a>
-    </li>
-  
-
-            
+    
+    <li class="md-nav__item md-nav__item--nested">
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+      
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+      
+      
+        
+        <div class="md-nav__link md-nav__link--index ">
+          <a href="../../api/sdr.FIRInterpolator/#properties"><span class="md-ellipsis">Properties</span></a>
+          
+            <label for="__nav_3_1_2_1_5">
+              <span class="md-nav__icon md-icon"></span>
+            </label>
+          
+        </div>
+      
+      <nav class="md-nav" aria-label="Properties" data-md-level="5">
+        <label class="md-nav__title" for="__nav_3_1_2_1_5">
+          <span class="md-nav__icon md-icon"></span>
+          <span class="md-ellipsis">Properties</span>
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@@ -1675,8 +1917,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.order/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.order (Python property) — The order of the IIR filter, $N$." class="md-ellipsis">order</span>
+      <a href="../../api/sdr.FIRInterpolator.method/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.method (Python property) — The method used to design the multirate filter." class="md-ellipsis">method</span>
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@@ -1690,8 +1932,8 @@
   
   
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-      <a href="../../api/sdr.IIR.poles/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.poles (Python property) — The poles of the IIR filter." class="md-ellipsis">poles</span>
+      <a href="../../api/sdr.FIRInterpolator.polyphase_taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.polyphase_taps (Python property) — The polyphase feedforward taps $h_{i, j}$." class="md-ellipsis">polyphase_<wbr>taps</span>
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@@ -1705,8 +1947,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.streaming/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.streaming (Python property) — Indicates whether the filter is in streaming mode." class="md-ellipsis">streaming</span>
+      <a href="../../api/sdr.FIRInterpolator.rate/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.rate (Python property) — The interpolation rate $r$." class="md-ellipsis">rate</span>
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@@ -1720,8 +1962,8 @@
   
   
     <li class="md-nav__item">
-      <a href="../../api/sdr.IIR.zeros/" class="md-nav__link">
-        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.IIR.zeros (Python property) — The zeros of the IIR filter." class="md-ellipsis">zeros</span>
+      <a href="../../api/sdr.FIRInterpolator.taps/" class="md-nav__link">
+        <span aria-label="Python property" class="objinfo-icon objinfo-icon__alias" title="Python property">P</span><span title="sdr.FIRInterpolator.taps (Python property) — The prototype feedforward taps $h_i$." class="md-ellipsis">taps</span>
       </a>
     </li>
   
@@ -1744,6 +1986,21 @@
 
             
           
+            
+              
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../api/sdr.multirate_fir/" class="md-nav__link">
+        <span aria-label="Python function" class="objinfo-icon objinfo-icon__procedure" title="Python function">F</span><span title="sdr.multirate_fir (Python function) — Computes the multirate FIR filter that achieves rational resampling by $P/Q$." class="md-ellipsis">multirate_<wbr>fir</span>
+      </a>
+    </li>
+  
+
+            
+          
         </ul>
       </nav>
     </li>
@@ -1761,7 +2018,7 @@
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@@ -1769,14 +2026,14 @@
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-            <label for="__nav_3_1_2">
+            <label for="__nav_3_1_3">
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+        <label class="md-nav__title" for="__nav_3_1_3">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_2_1" type="checkbox" id="__nav_3_1_2_1" >
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-            <label for="__nav_3_1_2_1">
+            <label for="__nav_3_1_3_1">
               <span class="md-nav__icon md-icon"></span>
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       <nav class="md-nav" aria-label="FarrowResampler" data-md-level="4">
-        <label class="md-nav__title" for="__nav_3_1_2_1">
+        <label class="md-nav__title" for="__nav_3_1_3_1">
           <span class="md-nav__icon md-icon"></span>
           <span aria-label="Python class" class="objinfo-icon objinfo-icon__data" title="Python class">C</span><span title="sdr.FarrowResampler (Python class) — Implements a cubic Farrow arbitrary resampler." class="md-ellipsis">Farrow<wbr>Resampler</span>
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-            <label for="__nav_3_1_2_1_1">
+            <label for="__nav_3_1_3_1_1">
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           <a href="../../api/sdr.FarrowResampler/#special-methods"><span class="md-ellipsis">Special methods</span></a>
           
-            <label for="__nav_3_1_2_1_2">
+            <label for="__nav_3_1_3_1_2">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_2">
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@@ -1935,14 +2192,14 @@
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-            <label for="__nav_3_1_2_1_3">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_3">
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@@ -1988,14 +2245,14 @@
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           <a href="../../api/sdr.FarrowResampler/#properties"><span class="md-ellipsis">Properties</span></a>
           
-            <label for="__nav_3_1_2_1_4">
+            <label for="__nav_3_1_3_1_4">
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-        <label class="md-nav__title" for="__nav_3_1_2_1_4">
+        <label class="md-nav__title" for="__nav_3_1_3_1_4">
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-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3_1_3" type="checkbox" id="__nav_3_1_3" >
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-            <label for="__nav_3_1_3">
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+        <label class="md-nav__title" for="__nav_3_1_4">
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diff --git a/v0.0.x/searchindex.js b/v0.0.x/searchindex.js
index 9d035ee79..61c0a277c 100644
--- a/v0.0.x/searchindex.js
+++ b/v0.0.x/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"titles": ["Conversions", "Data manipulation", "Digital signal processing", "Link budgets", "Measurement", "Modulation", "Plotting", "Probability", "sdr.ClosedLoopPLL", "sdr.ClosedLoopPLL.Bn", "sdr.ClosedLoopPLL.BnT", "sdr.ClosedLoopPLL.K0", "sdr.ClosedLoopPLL.K1", "sdr.ClosedLoopPLL.K2", "sdr.ClosedLoopPLL.Kp", "sdr.ClosedLoopPLL.__init__", "sdr.ClosedLoopPLL.frequency_lock_time", "sdr.ClosedLoopPLL.iir", "sdr.ClosedLoopPLL.lock_time", "sdr.ClosedLoopPLL.omega_3dB", "sdr.ClosedLoopPLL.omega_n", "sdr.ClosedLoopPLL.phase_error_variance", "sdr.ClosedLoopPLL.phase_lock_time", "sdr.ClosedLoopPLL.sample_rate", "sdr.ClosedLoopPLL.zeta", "sdr.DDS", "sdr.DDS.__call__", "sdr.DDS.__init__", "sdr.DDS.nco", "sdr.DDS.reset", "sdr.DDS.step", "sdr.ErrorRate", "sdr.ErrorRate.__init__", "sdr.ErrorRate.add", "sdr.ErrorRate.counts", "sdr.ErrorRate.error_rate", "sdr.ErrorRate.error_rates", "sdr.ErrorRate.errors", "sdr.FIR", "sdr.FIR.__call__", "sdr.FIR.__init__", "sdr.FIR.__len__", "sdr.FIR.delay", "sdr.FIR.frequency_response", "sdr.FIR.frequency_response_log", "sdr.FIR.impulse_response", "sdr.FIR.order", "sdr.FIR.reset", "sdr.FIR.step_response", "sdr.FIR.streaming", "sdr.FIR.taps", "sdr.FIRInterpolator", "sdr.FIRInterpolator.__call__", "sdr.FIRInterpolator.__init__", "sdr.FIRInterpolator.polyphase_taps", "sdr.FIRInterpolator.rate", "sdr.FIRInterpolator.reset", "sdr.FIRInterpolator.streaming", "sdr.FIRInterpolator.taps", "sdr.FarrowResampler", "sdr.FarrowResampler.__call__", "sdr.FarrowResampler.__init__", "sdr.FarrowResampler.order", "sdr.FarrowResampler.reset", "sdr.FarrowResampler.streaming", "sdr.FarrowResampler.taps", "sdr.IIR", "sdr.IIR.ZerosPoles", "sdr.IIR.__call__", "sdr.IIR.__init__", "sdr.IIR.a_taps", "sdr.IIR.b_taps", "sdr.IIR.frequency_response", "sdr.IIR.frequency_response_log", "sdr.IIR.gain", "sdr.IIR.impulse_response", "sdr.IIR.order", "sdr.IIR.poles", "sdr.IIR.reset", "sdr.IIR.step_response", "sdr.IIR.streaming", "sdr.IIR.zeros", "sdr.LoopFilter", "sdr.LoopFilter.K1", "sdr.LoopFilter.K2", "sdr.LoopFilter.__call__", "sdr.LoopFilter.__init__", "sdr.LoopFilter.damping_factor", "sdr.LoopFilter.iir", "sdr.LoopFilter.noise_bandwidth", "sdr.LoopFilter.reset", "sdr.NCO", "sdr.NCO.K0", "sdr.NCO.__call__", "sdr.NCO.__init__", "sdr.NCO.increment", "sdr.NCO.offset", "sdr.NCO.reset", "sdr.NCO.step", "sdr.PSK", "sdr.PSK.__init__", "sdr.PSK.ber", "sdr.PSK.bps", "sdr.PSK.demodulate", "sdr.PSK.modulate", "sdr.PSK.order", "sdr.PSK.phase_offset", "sdr.PSK.ser", "sdr.PSK.symbol_map", "sdr.Q", "sdr.Qinv", "sdr.average_power", "sdr.awgn", "sdr.awgn_capacity", "sdr.barker", "sdr.bec", "sdr.bec_capacity", "sdr.binary_code", "sdr.bsc", "sdr.bsc_capacity", "sdr.crest_factor", "sdr.db", "sdr.diff_decode", "sdr.diff_encode", "sdr.dmc", "sdr.ebn0_to_esn0", "sdr.ebn0_to_snr", "sdr.energy", "sdr.esn0_to_ebn0", "sdr.esn0_to_snr", "sdr.evm", "sdr.frequency_offset", "sdr.fspl", "sdr.gaussian", "sdr.gray_code", "sdr.hexdump", "sdr.iq_imbalance", "sdr.linear", "sdr.mix", "sdr.pack", "sdr.papr", "sdr.parabolic_antenna", "sdr.peak_power", "sdr.peak_voltage", "sdr.plot.ber", "sdr.plot.constellation", "sdr.plot.filter", "sdr.plot.frequency_response", "sdr.plot.group_delay", "sdr.plot.impulse_response", "sdr.plot.periodogram", "sdr.plot.phase_delay", "sdr.plot.phase_response", "sdr.plot.ser", "sdr.plot.spectrogram", "sdr.plot.step_response", "sdr.plot.symbol_map", "sdr.plot.time_domain", "sdr.plot.use_style", "sdr.plot.zeros_poles", "sdr.raised_cosine", "sdr.rms_voltage", "sdr.root_raised_cosine", "sdr.sample_rate_offset", "sdr.snr_to_ebn0", "sdr.snr_to_esn0", "sdr.to_complex_bb", "sdr.to_real_pb", "sdr.unpack", "sdr.zadoff_chu", "Sequences", "Simulation", "Synchronization", "Documentation", "Installation", "Linter", "Unit Tests", "Farrow arbitrary resampler", "FIR filters", "IIR filters", "Peak-to-average power", "Phase-locked loops", "Phase-shift keying", "Pulse shapes", "sdr", "v0.0", "Versioning"], "terms": {"sdr": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 185, 186], "db": [0, 3, 8, 19, 21, 31, 33, 34, 35, 37, 101, 107, 112, 113, 121, 125, 126, 128, 129, 130, 132, 133, 136, 137, 140, 141, 144, 145, 153, 164, 165, 180, 182, 183], "x": [0, 1, 2, 4, 5, 6, 7, 8, 25, 26, 31, 33, 38, 39, 51, 52, 59, 60, 66, 68, 82, 85, 91, 93, 99, 103, 104, 109, 110, 111, 112, 115, 118, 120, 121, 122, 123, 124, 127, 130, 131, 136, 137, 138, 139, 140, 142, 143, 145, 146, 147, 148, 150, 151, 152, 154, 156, 157, 161, 163, 168, 171, 174, 180, 181, 182, 186], "arraylik": [0, 1, 2, 3, 4, 5, 6, 7, 25, 26, 31, 33, 38, 39, 40, 51, 52, 53, 59, 60, 63, 66, 67, 68, 69, 82, 85, 91, 93, 99, 100, 101, 103, 104, 107, 109, 110, 111, 112, 113, 115, 116, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 159, 161, 163, 164, 165, 166, 167, 168, 171], "ndarrai": [0, 1, 2, 3, 5, 7, 25, 26, 30, 31, 36, 38, 39, 43, 44, 45, 48, 50, 51, 52, 54, 58, 59, 60, 65, 66, 68, 70, 71, 72, 73, 75, 77, 79, 81, 82, 85, 91, 93, 98, 99, 101, 103, 104, 107, 108, 109, 110, 112, 113, 114, 115, 116, 117, 118, 119, 121, 122, 123, 124, 125, 126, 128, 129, 131, 132, 133, 134, 136, 137, 138, 139, 160, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171], "convert": [0, 2, 121, 125, 126, 128, 129, 135, 137, 164, 165, 166, 167], "linear": [0, 99, 112, 121, 137, 150, 154], "unit": [0, 25, 38, 48, 66, 79, 82, 91, 94, 95, 96, 100, 111, 112, 113, 121, 122, 123, 127, 137, 142, 143, 155, 160, 161, 162, 174, 178, 179, 181], "ebn0_to_esn0": [0, 107, 125, 182, 184, 185], "ebn0": [0, 6, 99, 101, 113, 125, 126, 144, 182], "bp": [0, 99, 102, 125, 126, 128, 164, 182], "int": [0, 1, 5, 25, 30, 31, 33, 34, 37, 38, 41, 42, 43, 44, 45, 46, 48, 51, 53, 55, 59, 62, 66, 72, 73, 75, 76, 79, 91, 98, 99, 100, 102, 105, 112, 114, 117, 122, 123, 125, 126, 128, 129, 133, 134, 135, 139, 146, 147, 148, 149, 150, 151, 152, 154, 155, 160, 162, 164, 165, 168, 169, 170, 182], "ebn0_to_snr": [0, 126, 184, 185], "esn0_to_ebn0": [0, 101, 128, 184, 185], "esn0": [0, 6, 99, 107, 128, 129, 153, 182], "esn0_to_snr": [0, 129, 182, 184, 185], "sp": [0, 5, 126, 129, 133, 160, 162, 164, 165, 166, 167, 180, 182, 183], "1": [0, 6, 7, 8, 15, 18, 22, 24, 25, 27, 31, 43, 44, 51, 54, 58, 66, 67, 72, 73, 82, 86, 87, 91, 94, 99, 100, 101, 103, 104, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 141, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 177, 178, 179, 180, 181, 182, 183, 186], "snr_to_ebn0": [0, 101, 113, 164, 184, 185], "snr": [0, 3, 31, 33, 34, 35, 36, 37, 112, 113, 164, 165, 166, 167, 171, 182, 185], "snr_to_esn0": [0, 107, 165, 184, 185], "hexdump": [1, 31, 135, 184, 185], "byte": [1, 135], "width": [1, 135], "16": [1, 101, 107, 108, 125, 126, 128, 135, 144, 153, 164, 165, 180, 185], "str": [1, 135, 150, 154], "return": [1, 5, 8, 16, 18, 21, 22, 26, 30, 31, 33, 34, 35, 36, 37, 38, 39, 41, 43, 44, 45, 48, 52, 60, 66, 68, 72, 73, 75, 79, 85, 93, 98, 101, 103, 107, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 178, 179, 180, 182], "specifi": [1, 31, 34, 35, 37, 112, 113, 124, 135, 178, 179], "pack": [1, 31, 33, 135, 139, 184, 185], "bpe": [1, 139, 168], "binari": [1, 3, 5, 100, 108, 114, 115, 116, 117, 118, 119, 124, 139, 156, 168, 171, 182, 185], "arrai": [1, 31, 54, 58, 100, 108, 114, 115, 117, 118, 122, 123, 124, 134, 139, 157, 168, 179], "an": [1, 2, 3, 38, 45, 66, 67, 69, 75, 100, 101, 107, 113, 139, 144, 149, 153, 168, 174, 175, 184], "multipl": [1, 139, 168, 182], "bit": [1, 4, 6, 31, 33, 36, 99, 100, 101, 102, 108, 113, 115, 116, 118, 119, 125, 126, 128, 135, 139, 144, 164, 168, 185], "per": [1, 26, 93, 99, 100, 102, 112, 113, 125, 126, 128, 129, 131, 133, 135, 139, 145, 160, 162, 163, 164, 165, 168, 180, 183], "element": [1, 135, 139, 168], "unpack": [1, 31, 33, 135, 168, 182, 184, 185], "class": [2, 4, 8, 25, 31, 33, 34, 35, 36, 37, 38, 51, 59, 66, 82, 91, 99, 172, 178, 179, 182, 184], "fir": [2, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 58, 146, 147, 148, 149, 151, 152, 155, 159, 180, 184, 185], "implement": [2, 5, 25, 38, 51, 59, 66, 82, 88, 91, 99, 172, 177], "finit": [2, 38, 51, 185], "impuls": [2, 6, 38, 45, 51, 66, 75, 133, 146, 149, 157, 183, 185], "respons": [2, 6, 38, 43, 44, 45, 48, 51, 66, 72, 73, 75, 79, 133, 146, 147, 148, 149, 152, 155, 183, 185], "firinterpol": [2, 51, 52, 53, 54, 55, 56, 57, 58, 180, 182, 184, 185], "polyphas": [2, 51, 53, 54, 58], "interpol": [2, 51, 52, 53, 55, 185], "iir": [2, 6, 8, 17, 44, 45, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 88, 146, 147, 148, 149, 151, 152, 155, 159, 178, 181, 184, 185], "infinit": [2, 66, 185], "farrowresampl": [2, 59, 60, 61, 62, 63, 64, 65, 177, 184, 185], "cubic": [2, 59], "farrow": [2, 59, 60, 61, 62, 63, 64, 65, 185], "arbitrari": [2, 59, 60, 61, 62, 63, 64, 65, 185], "mix": [2, 138, 184, 185], "freq": [2, 3, 131, 138, 141, 171, 177, 181], "float": [2, 4, 5, 6, 8, 9, 10, 11, 12, 13, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 27, 31, 33, 34, 35, 37, 43, 44, 59, 60, 66, 67, 72, 73, 74, 82, 83, 84, 86, 87, 89, 91, 92, 94, 95, 96, 99, 100, 106, 111, 112, 113, 115, 118, 120, 127, 130, 131, 133, 136, 138, 140, 141, 142, 143, 145, 146, 147, 148, 150, 151, 152, 154, 156, 157, 160, 161, 162, 163, 171], "0": [2, 5, 6, 7, 15, 25, 27, 31, 38, 43, 44, 51, 54, 58, 66, 67, 72, 73, 86, 91, 94, 99, 100, 103, 104, 106, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 121, 122, 123, 124, 126, 127, 129, 130, 131, 133, 134, 136, 137, 138, 139, 141, 145, 146, 147, 148, 149, 150, 151, 152, 154, 155, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 173, 174, 177, 178, 179, 180, 181, 182, 183, 186], "time": [2, 4, 8, 15, 16, 18, 19, 20, 21, 22, 38, 66, 82, 86, 99, 111, 112, 120, 124, 127, 129, 131, 133, 136, 138, 140, 142, 143, 146, 150, 154, 157, 160, 161, 162, 163, 165, 166, 167, 171, 177, 178, 179, 183, 184], "domain": [2, 4, 111, 112, 120, 127, 131, 136, 138, 140, 142, 143, 146, 150, 154, 157, 161, 163, 166, 167, 171, 184], "n": [2, 4, 5, 6, 7, 8, 25, 26, 30, 33, 34, 35, 36, 37, 38, 39, 41, 43, 44, 45, 46, 48, 51, 52, 59, 60, 66, 68, 72, 73, 75, 76, 79, 82, 85, 91, 93, 98, 109, 110, 111, 112, 113, 114, 117, 120, 124, 125, 126, 127, 128, 129, 130, 131, 134, 136, 138, 140, 142, 143, 146, 147, 148, 149, 150, 151, 152, 154, 155, 157, 161, 163, 164, 165, 166, 167, 169, 170, 171, 181, 183, 184], "complex": [2, 4, 6, 25, 26, 30, 99, 100, 103, 104, 108, 112, 113, 130, 136, 138, 145, 156, 157, 166, 167, 171, 177, 178, 179, 182, 185], "exponenti": [2, 25, 26, 30, 138, 166, 167, 177, 178, 179], "to_complex_bb": [2, 166, 184, 185], "x_r": [2, 166, 167], "real": [2, 109, 110, 112, 157, 166, 167, 177, 178, 179, 181, 185], "passband": [2, 133, 166, 167, 180, 185], "center": [2, 166, 167], "f_": [2, 8, 15, 23, 43, 44, 52, 72, 73, 126, 129, 131, 133, 138, 146, 147, 148, 150, 151, 152, 154, 157, 163, 164, 165, 166, 167, 177, 178, 179, 181, 183], "": [2, 6, 8, 16, 18, 19, 20, 22, 23, 33, 34, 35, 36, 37, 38, 43, 44, 48, 66, 72, 73, 79, 99, 103, 104, 112, 113, 126, 129, 130, 131, 136, 145, 146, 147, 148, 150, 151, 152, 154, 155, 157, 158, 163, 164, 165, 166, 167, 176, 177, 180, 182, 184], "r": [2, 51, 52, 53, 54, 55, 58, 59, 60, 113, 125, 126, 128, 130, 133, 138, 160, 162, 164, 166, 167, 173, 174, 175, 176, 179, 180, 181, 183], "4": [2, 16, 18, 31, 44, 51, 54, 58, 73, 101, 106, 107, 108, 112, 113, 114, 116, 117, 119, 124, 125, 126, 128, 129, 130, 131, 132, 133, 134, 135, 136, 138, 139, 141, 144, 145, 146, 147, 148, 149, 151, 152, 153, 155, 156, 157, 158, 159, 160, 162, 163, 164, 165, 166, 167, 168, 169, 173, 174, 177, 179, 180, 182], "sampl": [2, 8, 15, 23, 25, 26, 27, 30, 38, 42, 43, 44, 45, 48, 51, 52, 59, 63, 72, 73, 75, 79, 82, 86, 89, 91, 93, 94, 95, 98, 112, 126, 129, 131, 133, 138, 146, 147, 148, 149, 150, 151, 152, 154, 155, 157, 160, 162, 163, 164, 165, 166, 167, 171, 177, 180, 181, 183], "rate": [2, 4, 6, 8, 15, 23, 31, 32, 33, 35, 36, 43, 44, 51, 52, 53, 55, 59, 60, 72, 73, 99, 101, 107, 125, 126, 128, 131, 138, 144, 146, 147, 148, 150, 151, 152, 153, 154, 157, 163, 164, 166, 167, 171, 185], "baseband": [2, 8, 138, 166, 167, 180, 181, 185], "x_c": [2, 166, 167], "c": [2, 8, 16, 18, 19, 20, 21, 22, 33, 34, 35, 36, 37, 82, 99, 108, 113, 116, 119, 132, 141, 166, 167, 181], "2": [2, 5, 8, 16, 18, 21, 31, 43, 44, 51, 54, 58, 72, 73, 99, 100, 101, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 141, 142, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 174, 176, 177, 178, 179, 180, 181, 182, 183], "to_real_pb": [2, 167, 180, 184, 185], "2f_": [2, 167], "awgn_capac": [3, 113, 184, 185], "calcul": [3, 4, 113, 116, 119, 130, 132, 141], "addit": [3, 112, 113, 144, 145, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 159, 171], "white": [3, 112, 113, 171], "gaussian": [3, 5, 112, 113, 133, 171, 184, 185], "nois": [3, 8, 9, 10, 15, 21, 31, 33, 34, 35, 36, 37, 82, 86, 89, 101, 107, 112, 113, 125, 126, 128, 129, 144, 153, 164, 165, 171, 181], "awgn": [3, 101, 107, 112, 113, 130, 144, 145, 153, 166, 167, 171, 182, 184, 185], "bec_capac": [3, 116, 184, 185], "p": [3, 7, 109, 110, 115, 116, 118, 119, 124, 171], "erasur": [3, 115, 116, 124, 171], "bec": [3, 115, 116, 124, 171, 184, 185], "bsc_capac": [3, 119, 184, 185], "symmetr": [3, 118, 119, 124, 166, 167, 171], "bsc": [3, 118, 119, 124, 171, 184, 185], "fspl": [3, 132, 184], "d": [3, 132, 141, 173, 174, 184], "f": [3, 16, 18, 38, 43, 44, 66, 72, 73, 112, 131, 132, 133, 138, 141, 163, 169, 177, 178, 179, 180, 181, 182, 183], "free": [3, 132], "space": [3, 44, 73, 132], "parabolic_antenna": [3, 141, 184, 185], "tupl": [3, 31, 33, 36, 38, 43, 44, 66, 72, 73, 141, 145, 146, 147, 148, 149, 151, 152, 155, 156, 159], "gain": [3, 8, 11, 12, 13, 14, 15, 25, 27, 66, 67, 74, 82, 83, 84, 86, 91, 92, 94, 133, 141, 181], "g": [3, 36, 141, 174], "beamwidth": [3, 141], "theta": [3, 6, 27, 91, 94, 96, 141, 152], "parabol": [3, 141], "reflector": [3, 141], "signal": [4, 6, 8, 16, 18, 21, 22, 25, 26, 31, 33, 34, 35, 36, 37, 38, 39, 51, 52, 59, 60, 66, 68, 82, 85, 91, 93, 98, 111, 112, 113, 120, 121, 125, 126, 127, 128, 129, 131, 132, 133, 136, 137, 138, 140, 141, 142, 143, 150, 154, 157, 161, 163, 164, 165, 166, 167, 178, 179, 181, 183, 184, 185], "average_pow": [4, 111, 140, 184, 185], "averag": [4, 31, 111, 112, 113, 130, 140, 150], "papr": [4, 140, 180, 184, 185], "peak": [4, 120, 130, 140, 142, 143], "ratio": [4, 21, 31, 33, 34, 35, 36, 37, 101, 107, 112, 113, 125, 126, 128, 129, 140, 144, 153, 164, 165], "peak_pow": [4, 140, 142, 184, 185], "crest_factor": [4, 120, 140, 184, 185], "crest": [4, 120], "factor": [4, 8, 15, 24, 82, 86, 87, 120, 181], "peak_voltag": [4, 120, 143, 184, 185], "rms_voltag": [4, 120, 161, 184, 185], "root": [4, 5, 130, 157, 161, 162, 169, 170, 178], "mean": [4, 130, 150, 154, 161, 183], "squar": [4, 5, 130, 132, 141, 157, 161, 162, 178], "rm": [4, 120, 130, 161], "errorr": [4, 31, 32, 33, 34, 35, 36, 37, 182, 184, 185], "A": [4, 8, 16, 18, 19, 20, 21, 22, 24, 31, 38, 82, 117, 134, 135, 136, 141, 160, 162, 172, 181], "error": [4, 6, 8, 14, 15, 21, 31, 32, 33, 35, 36, 37, 82, 86, 99, 101, 107, 119, 130, 144, 153, 181, 185], "ber": [4, 6, 31, 99, 101, 144, 182, 184, 185], "symbol": [4, 6, 31, 33, 36, 99, 100, 101, 102, 103, 104, 107, 108, 112, 125, 126, 128, 129, 130, 131, 133, 145, 153, 156, 160, 162, 164, 165, 180, 183, 184, 185], "ser": [4, 6, 31, 99, 107, 153, 182, 184, 185], "evm": [4, 130, 184, 185], "x_hat": [4, 6, 31, 33, 99, 103, 130, 145, 182], "ref": [4, 130, 133], "vector": [4, 31, 63, 130, 150, 154, 185], "magnitud": [4, 114, 130, 169, 185], "hat": [4, 6, 33, 99, 103, 130, 145, 156], "k": [4, 5, 6, 33, 99, 100, 102, 103, 104, 105, 122, 123, 125, 126, 128, 130, 145, 156, 164, 180, 183], "psk": [5, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 112, 130, 131, 136, 144, 145, 153, 156, 163, 180, 184, 185], "phase": [5, 6, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 106, 107, 108, 131, 136, 138, 151, 152, 171], "shift": [5, 99, 101, 106, 107, 108, 169, 170, 178, 179], "kei": [5, 99, 101, 106, 107, 108], "demodul": [5, 99, 103, 182], "time_bandwidth": [5, 133], "span": [5, 133, 160, 162, 180, 183], "raised_cosin": [5, 160, 183, 184, 185], "alpha": [5, 133, 158, 160, 162, 180, 183], "rais": [5, 157, 160, 162, 178], "cosin": [5, 157, 160, 162, 178], "rc": [5, 160], "root_raised_cosin": [5, 146, 147, 148, 149, 151, 152, 155, 157, 159, 162, 178, 180, 182, 183, 184, 185], "srrc": [5, 157, 162, 180], "binary_cod": [5, 117, 184, 185], "gener": [5, 112, 117, 134, 173, 182], "code": [5, 100, 108, 114, 117, 125, 126, 128, 134, 145, 156, 164, 170, 174, 182, 185], "length": [5, 38, 41, 45, 48, 100, 114, 117, 133, 134, 146, 149, 150, 154, 155, 160, 162, 166, 169, 170, 175, 177, 180, 183], "gray_cod": [5, 134, 184, 185], "grai": [5, 100, 108, 134, 145, 156, 182], "diff_decod": [5, 122, 123, 184, 185], "y": [5, 25, 26, 30, 38, 39, 51, 52, 60, 66, 68, 82, 85, 91, 93, 98, 112, 115, 118, 122, 123, 124, 131, 136, 138, 145, 154, 156, 157, 163, 181, 182], "y_prev": [5, 122, 123], "differenti": [5, 101, 107, 122, 123, 157, 185], "decod": [5, 122], "input": [5, 8, 16, 18, 21, 22, 25, 26, 38, 39, 40, 45, 48, 51, 52, 53, 59, 60, 61, 63, 66, 67, 68, 69, 75, 79, 82, 85, 91, 93, 99, 101, 107, 109, 112, 113, 115, 116, 118, 119, 121, 122, 123, 124, 137, 139, 149, 155, 168, 171, 178, 179, 181], "data": [5, 122, 123, 135, 139, 168, 184], "diff_encod": [5, 101, 107, 122, 123, 184, 185], "use_styl": [6, 158], "appli": [6, 51, 131, 136, 145, 150, 154, 156, 158, 163, 171], "default": [6, 45, 48, 100, 108, 145, 154, 156, 158, 182], "matplotlib": [6, 144, 145, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 177, 178, 179, 180, 181, 182, 183, 184], "rcparam": [6, 158], "time_domain": [6, 112, 138, 157, 166, 167, 180, 182, 183, 184, 185], "sample_r": [6, 8, 15, 23, 43, 44, 72, 73, 131, 138, 146, 147, 148, 150, 151, 152, 154, 157, 166, 167, 177, 181, 183], "periodogram": [6, 150, 166, 167, 180, 184, 185], "power": [6, 99, 111, 112, 113, 121, 130, 137, 140, 141, 142, 150, 183, 184], "densiti": [6, 21, 150, 180, 183], "p_": [6, 101, 107, 111, 112, 121, 124, 130, 137, 140, 142, 144, 150, 153], "xx": [6, 150], "us": [6, 25, 28, 40, 53, 59, 61, 67, 69, 82, 88, 99, 103, 113, 116, 119, 130, 135, 139, 145, 146, 149, 150, 154, 155, 168, 173, 174, 175, 176, 178, 179, 182, 183, 184, 186], "welch": [6, 150, 154], "method": [6, 150, 154, 175, 178, 179], "spectrogram": [6, 154, 184, 185], "kwarg": [6, 144, 145, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 159], "function": [6, 7, 8, 17, 38, 66, 67, 82, 109, 110, 113, 133, 144, 150, 153, 154, 175, 178, 179, 181, 183, 184, 185], "e_b": [6, 33, 34, 35, 36, 37, 99, 101, 113, 125, 126, 128, 144, 164, 184], "n_0": [6, 21, 33, 34, 35, 36, 37, 99, 101, 107, 112, 113, 125, 126, 128, 129, 130, 144, 145, 153, 164, 165, 182, 184], "constel": [6, 106, 112, 130, 131, 136, 145, 163, 169, 184, 185], "heatmap": [6, 145, 182], "bool": [6, 38, 40, 49, 51, 53, 57, 59, 61, 64, 66, 67, 69, 80, 101, 107, 145, 152, 156], "fals": [6, 38, 40, 51, 53, 59, 61, 66, 67, 69, 101, 107, 115, 118, 124, 145, 150, 154, 179, 183], "e_": [6, 33, 34, 35, 36, 37, 99, 107, 112, 113, 125, 128, 129, 130, 145, 153, 165, 182, 184], "symbol_map": [6, 99, 106, 108, 130, 156, 157, 182, 184, 185], "map": [6, 99, 108, 130, 156, 184, 185], "h": [6, 38, 40, 43, 44, 45, 51, 66, 72, 73, 75, 82, 133, 146, 147, 149, 180, 181, 183], "omega": [6, 27, 91, 94, 95, 146, 147, 148, 151, 152, 181], "step": [6, 25, 26, 30, 38, 48, 66, 79, 91, 93, 98, 146, 155], "zero": [6, 51, 63, 66, 67, 81, 82, 139, 146, 147, 148, 149, 151, 152, 155, 157, 159, 166, 178, 180, 181, 183], "pole": [6, 66, 67, 77, 146, 147, 148, 149, 151, 152, 155, 159, 178], "frequency_respons": [6, 38, 43, 44, 66, 72, 73, 147, 178, 179, 181, 183, 184, 185], "group_delai": [6, 148, 178, 179, 184, 185], "group": [6, 148], "delai": [6, 25, 38, 42, 59, 82, 91, 122, 123, 148, 151, 181], "tau_g": [6, 148], "impulse_respons": [6, 38, 45, 66, 75, 133, 149, 160, 162, 178, 179, 183, 184, 185], "phase_delai": [6, 151, 184, 185], "tau_": [6, 151], "phi": [6, 99, 100, 106, 131, 136, 138, 151], "phase_respons": [6, 152, 184, 185], "step_respons": [6, 38, 48, 66, 79, 155, 178, 179, 181, 184, 185], "zeros_pol": [6, 159, 179, 184, 185], "q": [7, 109, 110, 169, 184, 185], "comput": [7, 99, 101, 107, 109, 110, 112, 132, 178, 179, 181, 183], "complementari": [7, 109, 110], "cumul": [7, 109, 110], "distribut": [7, 109, 110], "standard": [7, 109, 110], "normal": [7, 8, 10, 15, 82, 86, 89, 109, 110, 130, 133, 154, 181, 183], "mathcal": [7, 109, 110, 112, 124], "qinv": [7, 109, 110, 184, 185], "invers": [7, 110], "closedlooppl": [8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 172, 181, 184, 185], "defin": [8, 38, 66, 112, 124, 133, 169, 172, 179, 184], "perform": [8, 101, 107, 169, 172, 178, 179, 182, 184], "close": [8, 15, 17, 172, 185], "loop": [8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 172, 185], "pll": [8, 9, 10, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 172, 185], "thi": [8, 26, 33, 34, 35, 37, 38, 51, 66, 93, 99, 108, 112, 113, 130, 150, 154, 173, 174, 175, 176, 177, 179, 181, 182, 183], "i": [8, 15, 24, 31, 36, 38, 45, 48, 49, 51, 54, 57, 58, 59, 64, 66, 75, 79, 80, 82, 86, 87, 89, 99, 100, 109, 110, 112, 113, 116, 119, 121, 124, 125, 126, 128, 129, 131, 132, 133, 135, 136, 137, 139, 141, 145, 146, 149, 150, 154, 155, 157, 160, 162, 163, 164, 165, 166, 167, 168, 169, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 186], "meant": 8, "analysi": [8, 15, 175, 181, 185], "onli": [8, 38, 47, 51, 56, 59, 63, 66, 78, 100, 108, 112, 176, 181, 182], "block": [8, 25, 51, 82, 91, 122, 123], "diagram": [8, 25, 51, 82, 91, 122, 123], "bb": [8, 180, 181], "ped": [8, 14, 15, 86, 181], "lf": [8, 181], "lo": [8, 181], "e": [8, 25, 36, 111, 115, 116, 127, 169, 174, 178, 179, 181, 182], "j": [8, 25, 51, 54, 58, 66, 99, 112, 124, 136, 138, 169, 178, 179, 181], "nco": [8, 11, 15, 25, 27, 28, 86, 91, 92, 93, 94, 95, 96, 97, 98, 172, 181, 184, 185], "local": [8, 173, 175, 181], "oscil": [8, 25, 28, 91, 94, 172, 181, 185], "detector": [8, 14, 15, 86, 181], "filter": [8, 12, 13, 15, 17, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 56, 57, 58, 59, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 133, 146, 147, 148, 149, 151, 152, 155, 157, 159, 160, 162, 172, 183, 184, 185], "numer": [8, 25, 28, 91, 94, 172, 179, 181, 185], "control": [8, 25, 28, 91, 94, 172, 181, 185], "The": [8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 48, 50, 51, 52, 53, 54, 55, 58, 59, 60, 62, 63, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 79, 81, 82, 83, 84, 85, 86, 87, 88, 89, 91, 92, 93, 94, 95, 96, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 173, 174, 175, 176, 178, 179, 181, 182, 183, 184, 186], "transfer": [8, 17, 38, 66, 67, 82, 133, 178, 179, 181], "2nd": [8, 82, 86, 172, 181, 185], "order": [8, 31, 36, 38, 46, 59, 62, 66, 76, 82, 86, 99, 100, 105, 112, 125, 126, 128, 130, 131, 133, 145, 160, 162, 163, 164, 172, 180, 181, 182, 185], "proport": [8, 12, 82, 83, 86, 132, 141, 172, 185], "plu": [8, 82, 86, 172, 185], "integr": [8, 13, 82, 84, 86, 172, 176, 179, 185], "h_": [8, 51, 54, 58, 181], "z": [8, 25, 38, 66, 82, 91, 122, 123, 169, 178, 179, 181], "k_1": [8, 12, 82, 83, 181], "k_2": [8, 13, 82, 84, 181], "frac": [8, 16, 18, 21, 22, 66, 82, 99, 111, 112, 113, 120, 125, 126, 128, 129, 130, 132, 133, 136, 137, 138, 140, 141, 161, 164, 165, 169, 181], "k_0": [8, 11, 15, 27, 86, 91, 92, 94, 181], "k_p": [8, 14, 15, 86, 181], "refer": [8, 16, 18, 19, 20, 21, 22, 31, 59, 82, 101, 107, 112, 120, 130, 131, 133, 140, 160, 162, 163, 169, 179, 183], "michael": [8, 16, 18, 19, 20, 21, 22, 82, 160, 162], "rice": [8, 16, 18, 19, 20, 21, 22, 82, 160, 162], "digit": [8, 16, 18, 19, 20, 21, 22, 25, 27, 82, 101, 107, 160, 162, 172, 181, 184, 185], "commun": [8, 16, 18, 19, 20, 21, 22, 82, 101, 107, 160, 162, 181, 184], "discret": [8, 16, 18, 19, 20, 21, 22, 82, 112, 124, 129, 160, 162, 165, 171, 177, 181], "approach": [8, 16, 18, 19, 20, 21, 22, 82, 113, 116, 119, 160, 162, 181], "appendix": [8, 82, 160, 162], "lock": [8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98], "exampl": [8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 54, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 101, 106, 107, 108, 109, 110, 112, 113, 114, 115, 116, 117, 118, 119, 121, 122, 123, 124, 125, 126, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 141, 144, 145, 146, 147, 148, 149, 151, 152, 153, 155, 156, 157, 158, 159, 160, 162, 163, 164, 165, 166, 167, 168, 169, 181], "see": [8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 26, 27, 28, 29, 30, 34, 35, 36, 37, 38, 39, 40, 41, 42, 46, 47, 49, 50, 52, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 74, 76, 77, 78, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 92, 93, 94, 95, 96, 97, 98, 99, 106, 108, 133, 160, 162, 184], "noise_bandwidth": [8, 15, 82, 86, 89], "damping_factor": [8, 15, 82, 86, 87], "creat": [8, 15, 25, 27, 31, 32, 38, 40, 51, 53, 59, 61, 66, 67, 69, 82, 86, 91, 94, 99, 100, 106, 112, 114, 130, 131, 138, 157, 163, 166, 167, 169, 177, 181, 183], "object": [8, 15, 31, 32, 99, 100, 146, 147, 148, 149, 151, 152, 155, 159, 179, 181], "frequency_lock_tim": [8, 16], "freq_offset": [8, 16, 18], "frequenc": [8, 16, 18, 20, 38, 43, 44, 66, 72, 73, 82, 131, 132, 138, 141, 146, 147, 148, 150, 151, 152, 154, 166, 167, 171, 183, 185], "lock_tim": [8, 18, 181], "phase_error_vari": [8, 21], "cn0": [8, 21], "varianc": [8, 21, 112], "steadi": [8, 21], "state": [8, 21, 38, 47, 49, 51, 56, 57, 59, 63, 64, 66, 78, 80], "phase_lock_tim": [8, 22], "bn": [8, 9], "bandwidth": [8, 9, 10, 15, 19, 82, 86, 89, 113, 133, 160, 162, 181, 183], "b_n": [8, 9, 10, 15, 16, 18, 21, 22, 82, 86, 89], "hz": [8, 9, 15, 16, 18, 21, 43, 44, 72, 73, 82, 86, 89, 113, 121, 131, 132, 133, 137, 138, 141, 166, 167, 177], "bnt": [8, 10, 181], "t": [8, 10, 15, 82, 86, 89, 133, 135, 175, 177], "repres": [8, 17, 115, 116], "k0": [8, 11, 15, 25, 27, 86, 91, 92, 94], "k1": [8, 12, 82, 83, 181], "k2": [8, 13, 82, 84, 181], "kp": [8, 14, 15, 86], "omega_3db": [8, 19], "3": [8, 16, 18, 19, 22, 31, 51, 54, 58, 101, 106, 107, 108, 112, 113, 114, 115, 117, 118, 121, 124, 125, 126, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 141, 145, 146, 147, 148, 149, 151, 152, 155, 157, 159, 163, 164, 166, 167, 168, 169, 179, 181, 183, 184], "omega_": [8, 19], "textrm": [8, 19], "radian": [8, 19, 20, 21, 25, 27, 181], "omega_n": [8, 20, 181], "natur": [8, 20], "zeta": [8, 15, 24, 82, 86, 87], "damp": [8, 15, 24, 82, 86, 87, 181], "properti": [9, 10, 11, 12, 13, 14, 17, 19, 20, 23, 24, 28, 42, 46, 49, 50, 54, 55, 57, 58, 62, 64, 65, 70, 71, 74, 76, 77, 80, 81, 83, 84, 87, 88, 89, 92, 95, 96, 102, 105, 106, 108, 175], "paramet": [15, 16, 18, 21, 26, 27, 30, 33, 34, 35, 37, 39, 40, 43, 44, 45, 48, 52, 53, 60, 61, 63, 67, 68, 69, 72, 73, 75, 79, 85, 86, 93, 94, 98, 100, 101, 103, 104, 107, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169], "where": [15, 82, 86, 89, 100, 112, 113, 124, 125, 126, 128, 133, 164, 169, 178, 179, 184], "period": [15, 82, 86, 89, 169], "second": [15, 16, 18, 22, 31, 82, 86, 89, 133], "critic": [15, 24, 82, 86, 87, 181], "underdamp": [15, 24, 82, 86, 87], "overdamp": [15, 24, 82, 86, 87], "ted": [15, 86], "t_": [16, 18, 22, 60, 133, 183], "fl": [16, 18], "delta": [16, 18, 38, 45, 66, 75, 149, 178, 179], "offset": [16, 18, 25, 27, 91, 94, 96, 99, 100, 106, 131, 138, 163, 171, 181], "take": [16, 18, 22], "onto": [16, 18, 22], "equat": [16, 18, 19, 20, 21, 22, 66, 99], "39": 16, "pl": [18, 22], "38": 18, "34": 19, "33": 20, "sigma_": 21, "theta_": 21, "carrier": [21, 99], "43": 21, "40": 22, "less": 24, "than": [24, 100, 108, 136, 145, 156], "greater": 24, "dd": [25, 26, 27, 28, 29, 30, 91, 172, 181, 184, 185], "direct": [25, 27, 172, 181, 185], "synthes": [25, 27, 172, 181, 185], "note": [25, 38, 51, 54, 58, 66, 82, 91, 99, 112, 113, 116, 119, 122, 123, 133, 136, 141, 169], "increment": [25, 26, 27, 91, 93, 94, 95, 181], "v": [25, 91, 121, 137, 173], "output": [25, 26, 30, 38, 39, 45, 48, 51, 52, 66, 67, 69, 75, 79, 82, 85, 91, 93, 98, 112, 113, 114, 115, 116, 118, 119, 123, 124, 130, 137, 139, 149, 155, 168, 173, 177, 178, 179, 181], "constant": [25, 27, 82, 91, 94, 95, 150, 154, 179, 181], "accumul": [25, 27, 31, 91, 94, 95, 181], "absolut": [25, 27, 91, 94, 96, 113], "adder": [25, 82, 91, 122, 123, 181], "__call__": [25, 26, 38, 39, 40, 49, 51, 52, 53, 57, 59, 60, 61, 64, 66, 67, 68, 69, 80, 82, 85, 91, 93], "variabl": [25, 26, 91, 93, 135, 181], "reset": [25, 29, 38, 47, 51, 56, 59, 63, 66, 78, 82, 90, 91, 97], "forward": [25, 30, 91, 98], "vari": [26, 93], "number": [30, 31, 33, 34, 37, 43, 44, 45, 48, 72, 73, 75, 79, 98, 99, 102, 112, 125, 126, 128, 133, 135, 139, 145, 146, 147, 148, 149, 150, 151, 152, 154, 155, 160, 162, 164, 168], "measur": [31, 33, 111, 112, 120, 121, 127, 130, 137, 140, 142, 143, 161, 181, 184, 185], "new": [31, 32, 59, 61, 99, 100, 163], "In": [31, 39, 40, 49, 52, 53, 54, 57, 58, 61, 64, 67, 69, 80, 101, 106, 107, 108, 109, 110, 112, 113, 114, 115, 116, 117, 118, 119, 121, 122, 123, 124, 125, 126, 128, 129, 130, 131, 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159, 160, 162, 163, 164, 165, 166, 167, 169, 173, 177, 178, 179, 180, 181, 182, 183, 185], "total": [31, 183], "ar": [31, 33, 34, 35, 37, 40, 44, 51, 53, 54, 58, 61, 67, 69, 73, 99, 100, 113, 115, 116, 118, 119, 139, 145, 146, 147, 148, 150, 151, 152, 154, 156, 158, 166, 167, 173, 174, 175, 177, 179, 181, 183, 184, 186], "count": [31, 34, 130], "error_r": [31, 35, 36, 182], "everi": [31, 177], "can": [31, 33, 34, 35, 37, 82, 112, 130, 133, 139, 150, 154, 174, 178, 179, 182, 184, 186], "obtain": 31, "follow": [31, 136, 145, 154, 156, 158, 181], "6": [31, 51, 54, 58, 108, 117, 121, 124, 125, 126, 130, 132, 134, 135, 137, 141, 145, 146, 147, 148, 149, 151, 152, 155, 156, 157, 159, 166, 167, 169, 176, 178, 179, 181, 182, 185], "tabul": [31, 32], "given": [31, 33, 34, 35, 37, 59, 60, 130, 178, 179], "none": [31, 35, 38, 45, 48, 59, 63, 82, 90, 99, 101, 107, 112, 113, 124, 139, 145, 146, 149, 150, 154, 155, 156, 168, 171, 177, 180, 182], "numpi": [31, 36, 38, 43, 44, 66, 72, 73, 112, 168, 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interpolating filter."], [59, 1, 1, "", "FarrowResampler", "Implements a cubic Farrow arbitrary resampler."], [66, 1, 1, "", "IIR", "Implements an infinite impulse response (IIR) filter."], [82, 1, 1, "", "LoopFilter", "Implements a 2nd order, proportional-plus-integrator (PPI) loop filter."], [91, 1, 1, "", "NCO", "Implements a numerically-controlled oscillator (NCO)."], [99, 1, 1, "", "PSK", "Implements phase-shift keying (PSK) modulation and demodulation."], [109, 5, 1, "", "Q", "Computes the complementary cumulative distribution function $Q(x)$ of the standard normal distribution $mathcal{N}(0, 1)$."], [110, 5, 1, "", "Qinv", "Computes the inverse complementary cumulative distribution function $Q^{-1}(p)$ of the standard normal distribution $mathcal{N}(0, 1)$."], [111, 5, 1, "", "average_power", "Measures the average power of a time-domain signal $x[n]$."], [112, 5, 1, "", "awgn", "Adds additive white Gaussian noise (AWGN) to the time-domain signal $x[n]$."], [113, 5, 1, "", "awgn_capacity", "Calculates the capacity of an additive white Gaussian noise (AWGN) channel."], [114, 5, 1, "", "barker", "Returns the Barker code/sequence of length $N$."], [115, 5, 1, "", "bec", "Passes the binary input sequence $x$ through a binary erasure channel (BEC) with erasure probability $p$."], [116, 5, 1, "", "bec_capacity", "Calculates the capacity of a binary erasure channel (BEC)."], [117, 5, 1, "", "binary_code", "Generates a binary code of length $2^n$."], [118, 5, 1, "", "bsc", "Passes the binary input sequence $x$ through a binary symmetric channel (BSC) with transition probability $p$."], [119, 5, 1, "", "bsc_capacity", "Calculates the capacity of a binary symmetric channel (BSC)."], [120, 5, 1, "", "crest_factor", "Measures the crest factor of a time-domain signal $x[n]$."], [121, 5, 1, "", "db", "Converts from linear units to decibels."], [122, 5, 1, "", "diff_decode", "Differentially decodes the input data $y[k]$."], [123, 5, 1, "", "diff_encode", "Differentially encodes the input data $x[k]$."], [124, 5, 1, "", "dmc", "Passes the input sequence $x$ through a discrete memoryless channel (DMC) with transition probability matrix $P$."], [125, 5, 1, "", "ebn0_to_esn0", "Converts from $E_b/N_0$ to $E_s/N_0$."], [126, 5, 1, "", "ebn0_to_snr", "Converts from $E_b/N_0$ to $S/N$."], [127, 5, 1, "", "energy", "Measures the energy of a time-domain signal $x[n]$."], [128, 5, 1, "", "esn0_to_ebn0", "Converts from $E_s/N_0$ to $E_b/N_0$."], [129, 5, 1, "", "esn0_to_snr", "Converts from $E_s/N_0$ to $S/N$."], [130, 5, 1, "", "evm", "Calculates the error-vector magnitude (EVM) of the complex symbols $hat{x}[k]$."], [131, 5, 1, "", "frequency_offset", "Applies a frequency and phase offset to the time-domain signal $x[n]$."], [132, 5, 1, "", "fspl", "Calculates the free-space path loss (FSPL) in dB."], [133, 5, 1, "", "gaussian", "Returns a Gaussian pulse shape."], [134, 5, 1, "", "gray_code", "Generates a Gray code of length $2^n$."], [135, 5, 1, "", "hexdump", "Returns a hexdump of the specified data."], [136, 5, 1, "", "iq_imbalance", "Applies IQ imbalance to the complex time-domain signal $x[n]$."], [137, 5, 1, "", "linear", "Converts from decibels to linear units."], [138, 5, 1, "", "mix", "Mixes the time-domain signal $x[n]$ with a complex exponential."], [139, 5, 1, "", "pack", "Packs a binary array into an array with multiple bits per element."], [140, 5, 1, "", "papr", "Measures the peak-to-average power ratio (PAPR) of a time-domain signal $x[n]$."], [141, 5, 1, "", "parabolic_antenna", "Calculates the gain $G$ and beamwidth $theta$ of a parabolic reflector."], [142, 5, 1, "", "peak_power", "Measures the peak power of a time-domain signal $x[n]$."], [143, 5, 1, "", "peak_voltage", "Measures the peak voltage of a time-domain signal $x[n]$."], [160, 5, 1, "", "raised_cosine", "Returns a raised cosine (RC) pulse shape."], [161, 5, 1, "", "rms_voltage", "Measures the root-mean-square (RMS) voltage of a time-domain signal $x[n]$."], [162, 5, 1, "", "root_raised_cosine", "Returns a square root raised cosine (SRRC) pulse shape."], [163, 5, 1, "", "sample_rate_offset", "Applies a sample rate offset to the time-domain signal $x[n]$."], [164, 5, 1, "", "snr_to_ebn0", "Converts from $S/N$ to $E_b/N_0$."], [165, 5, 1, "", "snr_to_esn0", "Converts from $S/N$ to $E_s/N_0$."], [166, 5, 1, "", "to_complex_bb", "Converts the real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r}$ to a complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c} = f_{s,r}/2$."], [167, 5, 1, "", "to_real_pb", "Converts the complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c}$ to a real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r} = 2f_{s,c}$."], [168, 5, 1, "", "unpack", "Unpacks an array with multiple bits per element into a binary array."], [169, 5, 1, "", "zadoff_chu", "Returns the root-$u$ Zadoff-Chu sequence of length $N$."]], "sdr.ClosedLoopPLL": [[9, 2, 1, "", "Bn", "The noise bandwidth $B_n$ of the PLL in Hz."], [10, 2, 1, "", "BnT", "The normalized noise bandwidth $B_n T$ of the PLL."], [11, 2, 1, "", "K0", "The NCO gain $K_0$."], [12, 2, 1, "", "K1", "The proportional gain $K_1$ of the loop filter."], [13, 2, 1, "", "K2", "The integral gain $K_2$ of the loop filter."], [14, 2, 1, "", "Kp", "The phase error detector (PED) gain $K_p$."], [15, 3, 1, "", "__init__", "Creates a closed-loop PLL analysis object."], [16, 3, 1, "", "frequency_lock_time", "Returns the frequency lock time of the PLL."], [17, 2, 1, "", "iir", "The IIR filter that represents the closed-loop transfer function of the PLL."], [18, 3, 1, "", "lock_time", "Returns the lock time of the PLL."], [19, 2, 1, "", "omega_3dB", "The 3-dB bandwidth $omega_{3textrm{dB}}$ of the PLL in radians/s."], [20, 2, 1, "", "omega_n", "The natural frequency $omega_n$ of the PLL in radians/s."], [21, 3, 1, "", "phase_error_variance", "Returns the variance of the phase error of the PLL in steady state."], [22, 3, 1, "", "phase_lock_time", "Returns the phase lock time of the PLL."], [23, 2, 1, "", "sample_rate", "The sample rate $f_s$ of the PLL in samples/s."], [24, 2, 1, "", "zeta", "The damping factor $zeta$ of the PLL."]], "sdr.ClosedLoopPLL.__init__": [[15, 4, 2, "p-K0", "K0", "The NCO gain $K_0$."], [15, 4, 2, "p-Kp", "Kp", "The gain $K_p$ of the phase error detector (PED) or time error detector (TED)."], [15, 4, 2, "p-damping_factor", "damping_factor", "The damping factor $zeta$ of the loop filter. $zeta = 1$ is critically damped, $zeta < 1$ is underdamped, and $zeta > 1$ is overdamped."], [15, 4, 2, "p-noise_bandwidth", "noise_bandwidth", "The normalized noise bandwidth $B_n T$ of the loop filter, where $B_n$ is the noise bandwidth in Hz and $T$ is the sampling period in seconds."], [15, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the PLL in Hz."]], "sdr.ClosedLoopPLL.frequency_lock_time": [[16, 4, 2, "p-freq_offset", "freq_offset", "The frequency offset $Delta f$ of the input signal in Hz."]], "sdr.ClosedLoopPLL.lock_time": [[18, 4, 2, "p-freq_offset", "freq_offset", "The frequency offset $Delta f$ of the input signal in Hz."]], "sdr.ClosedLoopPLL.phase_error_variance": [[21, 4, 2, "p-cn0", "cn0", "The carrier-to-noise density ratio $C/N_0$ of the input signal in dB-Hz."]], "sdr.DDS": [[26, 3, 1, "", "__call__", "Steps the DDS with the variable phase increment signal $x[n]$."], [27, 3, 1, "", "__init__", "Creates a direct digital synthesizer (DDS)."], [28, 2, 1, "", "nco", "The numerically-controlled oscillator (NCO) used by the DDS."], [29, 3, 1, "", "reset", "Resets the DDS."], [30, 3, 1, "", "step", "Steps the DDS forward by $N$ samples."]], "sdr.DDS.__call__": [[26, 4, 2, "p-x", "x", "The variable-increment signal $x[n]$. This input signal varies the per-sample increment of the DDS."]], "sdr.DDS.__init__": [[27, 4, 2, "p-K0", "K0", "The NCO gain $K_0$."], [27, 4, 2, "p-increment", "increment", "The constant accumulation $omega$ of the NCO in radians/sample."], [27, 4, 2, "p-offset", "offset", "The absolute offset $theta$ of the NCO in radians."]], "sdr.DDS.step": [[30, 4, 2, "p-N", "N", "The number of samples $N$ to step the DDS forward."]], "sdr.ErrorRate": [[32, 3, 1, "", "__init__", "Creates a new error rate tabulation object."], [33, 3, 1, "", "add", "Measures the number of bit or symbol errors at the given signal-to-noise ratio (SNR)."], [34, 3, 1, "", "counts", "Returns the number of counts at the specified signal-to-noise ratio (SNR)."], [35, 3, 1, "", "error_rate", "Returns the error rate at the specified signal-to-noise ratio (SNR)."], [36, 3, 1, "", "error_rates", "Returns all signal-to-noise ratios (SNRs) in ascending order and their corresponding error rates."], [37, 3, 1, "", "errors", "Returns the number of errors at the specified signal-to-noise ratio (SNR)."]], "sdr.ErrorRate.add": [[33, 4, 2, "p-snr", "snr", "The signal-to-noise ratio (SNR) in dB. This can be $E_b/N_0$, $E_s/N_0$, $S/N$, $C/N_0$, or other SNR quantities. However, users are cautioned to be consistent for a given class instance."], [33, 4, 2, "p-x", "x", "The transmitted bits or symbols $x[k]$."], [33, 4, 2, "p-x_hat", "x_hat", "The received bits or symbols $hat{x}[k]$."]], "sdr.ErrorRate.counts": [[34, 4, 2, "p-snr", "snr", "The signal-to-noise ratio (SNR) in dB. This can be $E_b/N_0$, $E_s/N_0$, $S/N$, $C/N_0$, or other SNR quantities. However, users are cautioned to be consistent for a given class instance."]], "sdr.ErrorRate.error_rate": [[35, 4, 2, "p-snr", "snr", "The signal-to-noise ratio (SNR) in dB. This can be $E_b/N_0$, $E_s/N_0$, $S/N$, $C/N_0$, or other SNR quantities. However, users are cautioned to be consistent for a given class instance."]], "sdr.ErrorRate.errors": [[37, 4, 2, "p-snr", "snr", "The signal-to-noise ratio (SNR) in dB. This can be $E_b/N_0$, $E_s/N_0$, $S/N$, $C/N_0$, or other SNR quantities. However, users are cautioned to be consistent for a given class instance."]], "sdr.FIR": [[39, 3, 1, "", "__call__", "Filters the input signal $x[n]$ with the FIR filter."], [40, 3, 1, "", "__init__", "Creates a FIR filter with feedforward coefficients $h_i$."], [41, 3, 1, "", "__len__", "Returns the filter length $N$."], [42, 2, 1, "", "delay", "The delay of the FIR filter in samples."], [43, 3, 1, "", "frequency_response", "Returns the frequency response $H(f)$ of the FIR filter."], [44, 3, 1, "", "frequency_response_log", "Returns the frequency response $H(f)$ of the FIR filter on a logarithmic frequency axis."], [45, 3, 1, "", "impulse_response", "Returns the impulse response $h[n]$ of the FIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$."], [46, 2, 1, "", "order", "The order of the FIR filter, $N$."], [47, 3, 1, "", "reset", "Streaming-mode only: Resets the filter state."], [48, 3, 1, "", "step_response", "Returns the step response $s[n]$ of the FIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$."], [49, 2, 1, "", "streaming", "Indicates whether the filter is in streaming mode."], [50, 2, 1, "", "taps", "The feedforward taps $h_i$."]], "sdr.FIR.__call__": [[39, 4, 2, "p-mode", "mode", "The non-streaming convolution mode. See scipy.signal.convolve() for details. In streaming mode, $N$ inputs always produce $N$ outputs."], [39, 4, 2, "p-x", "x", "The input signal $x[n]$."]], "sdr.FIR.__init__": [[40, 4, 2, "p-h", "h", "The feedforward coefficients $h_i$."], [40, 4, 2, "p-streaming", "streaming", "Indicates whether to use streaming mode. In streaming mode, previous inputs are preserved between calls to __call__()."]], "sdr.FIR.frequency_response": [[43, 4, 2, "p-N", "N", "The number of samples in the frequency response."], [43, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the filter in samples/s."]], "sdr.FIR.frequency_response_log": [[44, 4, 2, "p-N", "N", "The number of samples in the frequency response."], [44, 4, 2, "p-decades", "decades", "The number of frequency decades to plot."], [44, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the filter in samples/s."]], "sdr.FIR.impulse_response": [[45, 4, 2, "p-N", "N", "The number of samples to return. The default is the filter length."]], "sdr.FIR.step_response": [[48, 4, 2, "p-N", "N", "The number of samples to return. The default is the filter length."]], "sdr.FIRInterpolator": [[52, 3, 1, "", "__call__", "Filters and interpolates the input signal $x[n]$ with the FIR filter."], [53, 3, 1, "", "__init__", "Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$."], [54, 2, 1, "", "polyphase_taps", "The polyphase feedforward taps $h_{i, j}$."], [55, 2, 1, "", "rate", "The interpolation rate $r$."], [56, 3, 1, "", "reset", "Streaming-mode only: Resets the filter state."], [57, 2, 1, "", "streaming", "Indicates whether the filter is in streaming mode."], [58, 2, 1, "", "taps", "The prototype feedforward taps $h_i$."]], "sdr.FIRInterpolator.__call__": [[52, 4, 2, "p-mode", "mode", "The non-streaming convolution mode. See scipy.signal.convolve() for details. In streaming mode, $N$ inputs always produce $N r$ outputs."], [52, 4, 2, "p-x", "x", "The input signal $x[n]$ with sample rate $f_s$."]], "sdr.FIRInterpolator.__init__": [[53, 4, 2, "p-rate", "rate", "The interpolation rate $r$."], [53, 4, 2, "p-streaming", "streaming", "Indicates whether to use streaming mode. In streaming mode, previous inputs are preserved between calls to __call__()."], [53, 4, 2, "p-taps", "taps", "The feedforward coefficients $h_i$."]], "sdr.FarrowResampler": [[60, 3, 1, "", "__call__", "Resamples the input signal $x[n]$ by the given arbitrary rate $r$."], [61, 3, 1, "", "__init__", "Creates a new Farrow arbitrary resampler."], [62, 2, 1, "", "order", "The order of the filter."], [63, 3, 1, "", "reset", "Streaming-mode only: Resets the filter state and fractional sample index."], [64, 2, 1, "", "streaming", "Indicates whether the filter is in streaming mode."], [65, 2, 1, "", "taps", "The Farrow filter taps."]], "sdr.FarrowResampler.__call__": [[60, 4, 2, "p-rate", "rate", "The resampling rate $r$."], [60, 4, 2, "p-x", "x", "The input signal $x[n] = x(n T_s)$."]], "sdr.FarrowResampler.__init__": [[61, 4, 2, "p-streaming", "streaming", "Indicates whether to use streaming mode. In streaming mode, previous inputs are preserved between calls to __call__()."]], "sdr.FarrowResampler.reset": [[63, 4, 2, "p-state", "state", "The filter state to reset to. The state vector should equal the previous three inputs. If None, the filter state will be reset to zero."]], "sdr.IIR": [[67, 3, 1, "", "ZerosPoles", "Creates an IIR filter from its zeros, poles, and gain."], [68, 3, 1, "", "__call__", "Filters the input signal $x[n]$ with the IIR filter."], [69, 3, 1, "", "__init__", "Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$."], [70, 2, 1, "", "a_taps", "The feedback taps $a_j$."], [71, 2, 1, "", "b_taps", "The feedforward taps $b_i$."], [72, 3, 1, "", "frequency_response", "Returns the frequency response $H(f)$ of the IIR filter."], [73, 3, 1, "", "frequency_response_log", "Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis."], [74, 2, 1, "", "gain", "The gain of the IIR filter."], [75, 3, 1, "", "impulse_response", "Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$."], [76, 2, 1, "", "order", "The order of the IIR filter, $N$."], [77, 2, 1, "", "poles", "The poles of the IIR filter."], [78, 3, 1, "", "reset", "Streaming-mode only: Resets the filter state."], [79, 3, 1, "", "step_response", "Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$."], [80, 2, 1, "", "streaming", "Indicates whether the filter is in streaming mode."], [81, 2, 1, "", "zeros", "The zeros of the IIR filter."]], "sdr.IIR.ZerosPoles": [[67, 4, 2, "p-gain", "gain", "The gain of the transfer function."], [67, 4, 2, "p-poles", "poles", "The poles of the transfer function."], [67, 4, 2, "p-streaming", "streaming", "Indicates whether to use streaming mode. In streaming mode, previous inputs and outputs are preserved between calls to __call__()."], [67, 4, 2, "p-zeros", "zeros", "The zeros of the transfer function."]], "sdr.IIR.__call__": [[68, 4, 2, "p-x", "x", "The input signal $x[n]$."]], "sdr.IIR.__init__": [[69, 4, 2, "p-a", "a", "The feedback coefficients $a_j$."], [69, 4, 2, "p-b", "b", "The feedforward coefficients $b_i$."], [69, 4, 2, "p-streaming", "streaming", "Indicates whether to use streaming mode. In streaming mode, previous inputs and outputs are preserved between calls to __call__()."]], "sdr.IIR.frequency_response": [[72, 4, 2, "p-N", "N", "The number of samples in the frequency response."], [72, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the filter in samples/s."]], "sdr.IIR.frequency_response_log": [[73, 4, 2, "p-N", "N", "The number of samples in the frequency response."], [73, 4, 2, "p-decades", "decades", "The number of frequency decades to plot."], [73, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the filter in samples/s."]], "sdr.IIR.impulse_response": [[75, 4, 2, "p-N", "N", "The number of samples to return."]], "sdr.IIR.step_response": [[79, 4, 2, "p-N", "N", "The number of samples to return."]], "sdr.LoopFilter": [[83, 2, 1, "", "K1", "The proportional gain $K_1$ of the loop filter."], [84, 2, 1, "", "K2", "The integral gain $K_2$ of the loop filter."], [85, 3, 1, "", "__call__", "Filters the input signal $x[n]$."], [86, 3, 1, "", "__init__", "Creates a 2nd order, proportional-plus-integrator (PPI) loop filter."], [87, 2, 1, "", "damping_factor", "The damping factor $zeta$ of the loop filter. $zeta = 1$ is critically damped, $zeta < 1$ is underdamped, and $zeta > 1$ is overdamped."], [88, 2, 1, "", "iir", "The underlying IIR filter used to implement the loop filter."], [89, 2, 1, "", "noise_bandwidth", "The normalized noise bandwidth $B_n T$ of the loop filter, where $B_n$ is the noise bandwidth in Hz and $T$ is the sampling period in seconds."], [90, 3, 1, "", "reset", "Resets the loop filter."]], "sdr.LoopFilter.__call__": [[85, 4, 2, "p-x", "x", "The input signal $x[n]$."]], "sdr.LoopFilter.__init__": [[86, 4, 2, "p-K0", "K0", "The NCO gain $K_0$."], [86, 4, 2, "p-Kp", "Kp", "The gain $K_p$ of the phase error detector (PED) or time error detector (TED)."], [86, 4, 2, "p-damping_factor", "damping_factor", "The damping factor $zeta$ of the loop filter. $zeta = 1$ is critically damped, $zeta < 1$ is underdamped, and $zeta > 1$ is overdamped."], [86, 4, 2, "p-noise_bandwidth", "noise_bandwidth", "The normalized noise bandwidth $B_n T$ of the loop filter, where $B_n$ is the noise bandwidth in Hz and $T$ is the sampling period in seconds."]], "sdr.NCO": [[92, 2, 1, "", "K0", "The NCO gain $K_0$."], [93, 3, 1, "", "__call__", "Steps the NCO with the variable-increment signal $x[n]$."], [94, 3, 1, "", "__init__", "Creates a numerically-controlled oscillator (NCO)."], [95, 2, 1, "", "increment", "The constant accumulation $omega$ of the NCO in units/sample."], [96, 2, 1, "", "offset", "The absolute offset $theta$ of the NCO in units."], [97, 3, 1, "", "reset", "Resets the NCO."], [98, 3, 1, "", "step", "Steps the NCO forward by $N$ samples."]], "sdr.NCO.__call__": [[93, 4, 2, "p-x", "x", "The variable-increment signal $x[n]$. This input signal varies the per-sample increment of the NCO."]], "sdr.NCO.__init__": [[94, 4, 2, "p-K0", "K0", "The NCO gain $K_0$."], [94, 4, 2, "p-increment", "increment", "The constant accumulation $omega$ of the NCO in units/sample."], [94, 4, 2, "p-offset", "offset", "The absolute offset $theta$ of the NCO in units."]], "sdr.NCO.step": [[98, 4, 2, "p-N", "N", "The number of samples $N$ to step the NCO forward."]], "sdr.PSK": [[100, 3, 1, "", "__init__", "Creates a new PSK object."], [101, 3, 1, "", "ber", "Computes the bit error rate (BER) at the provided $E_b/N_0$ values."], [102, 2, 1, "", "bps", "The number of bits per symbol $k = log_2 M$."], [103, 3, 1, "", "demodulate", "Demodulates the complex symbols $hat{x}[k]$ to decimal symbols $hat{s}[k]$ using maximum-likelihood estimation."], [104, 3, 1, "", "modulate", "Modulates to decimal symbols $s[k]$ to complex symbols $x[k]$."], [105, 2, 1, "", "order", "The modulation order $M = 2^k$."], [106, 2, 1, "", "phase_offset", "The phase offset $phi$ in degrees."], [107, 3, 1, "", "ser", "Computes the symbol error rate (SER) at the provided $E_s/N_0$ values."], [108, 2, 1, "", "symbol_map", "The symbol map ${0, dots, M-1} mapsto mathbb{C}$. This maps decimal symbols from $0$ to $M-1$ to complex symbols."]], "sdr.PSK.__init__": [[100, 4, 2, "p-order", "order", "The modulation order $M = 2^k$, where $k ge 1$ is the bits per symbol."], [100, 4, 2, "p-phase_offset", "phase_offset", "The phase offset $phi$ in degrees."], [100, 4, 2, "p-symbol_labels", "symbol_labels", "The decimal symbol labels of consecutive complex symbols."]], "sdr.PSK.ber": [[101, 4, 2, "p-diff_encoded", "diff_encoded", "Indicates whether the input symbols were differentially encoded."], [101, 4, 2, "p-ebn0", "ebn0", "Bit energy $E_b$ to noise PSD $N_0$ ratio in dB."]], "sdr.PSK.demodulate": [[103, 4, 2, "p-x_hat", "x_hat", "The complex symbols $hat{x}[k]$ to demodulate."]], "sdr.PSK.modulate": [[104, 4, 2, "p-symbols", "symbols", "The decimal symbols $s[k]$ to modulate, $0$ to $M-1$."]], "sdr.PSK.ser": [[107, 4, 2, "p-diff_encoded", "diff_encoded", "Indicates whether the input symbols were differentially encoded."], [107, 4, 2, "p-esn0", "esn0", "Symbol energy $E_s$ to noise PSD $N_0$ ratio in dB."]], "sdr.Q": [[109, 4, 2, "p-x", "x", "The real-valued input $x$."]], "sdr.Qinv": [[110, 4, 2, "p-p", "p", "The probability $p$ of exceeding the returned value $x$."]], "sdr.average_power": [[111, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to measure."]], "sdr.awgn": [[112, 4, 2, "p-noise", "noise", "The noise power (variance) in linear units. If noise is None, snr must be specified."], [112, 4, 2, "p-seed", "seed", "The seed for the random number generator. This is passed to numpy.random.default_rng()."], [112, 4, 2, "p-snr", "snr", "The desired signal-to-noise ratio (SNR) in dB. If specified, the average signal power is measured explicitly. It is assumed that $x[n]$ contains signal only. If the signal power is known, the desired noise variance can be computed and passed in noise. If snr is None, noise must be specified."], [112, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to which AWGN is added."]], "sdr.awgn_capacity": [[113, 4, 2, "p-bandwidth", "bandwidth", "The bandwidth $B$ of the channel in Hz. If specified, the capacity is calculated in bits/s. If None, the capacity is calculated in bits/2D."], [113, 4, 2, "p-snr", "snr", "The signal-to-noise ratio $S / N$ in dB of the channel."]], "sdr.barker": [[114, 4, 2, "p-length", "length", "The length $N$ of the Barker code/sequence."], [114, 4, 2, "p-output", "output", "The output format of the Barker code/sequence."]], "sdr.bec": [[115, 4, 2, "p-p", "p", "The probability $p$ of a bit erasure."], [115, 4, 2, "p-x", "x", "The input sequence $x$ with $x_i in {0, 1}$."]], "sdr.bec_capacity": [[116, 4, 2, "p-p", "p", "The erasure probability $p$ of the BEC channel."]], "sdr.binary_code": [[117, 4, 2, "p-n", "n", "The length of the binary code."]], "sdr.bsc": [[118, 4, 2, "p-p", "p", "The probability $p$ of a bit flip."], [118, 4, 2, "p-x", "x", "The input sequence $x$ with $x_i in {0, 1}$."]], "sdr.bsc_capacity": [[119, 4, 2, "p-p", "p", "The transition probability $p$ of the BSC channel."]], "sdr.crest_factor": [[120, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to measure."]], "sdr.db": [[121, 4, 2, "p-type", "type", "The type of input value or signal."], [121, 4, 2, "p-x", "x", "The input value or signal."]], "sdr.diff_decode": [[122, 4, 2, "p-y", "y", "The input encoded data $y[k]$."], [122, 4, 2, "p-y_prev", "y_prev", "The previous value of the encoded data $y[k-1]$."]], "sdr.diff_encode": [[123, 4, 2, "p-x", "x", "The input uncoded data $x[k]$."], [123, 4, 2, "p-y_prev", "y_prev", "The previous value of the output encoded data $y[k-1]$."]], "sdr.dmc": [[124, 4, 2, "p-P", "P", "The $m times n$ transition probability matrix $P$, where $P_{i,j} = Pr(Y = y_j | X = x_i)$."], [124, 4, 2, "p-X", "X", "The input alphabet $mathcal{X}$ of size $m$. If None, it is assumed that $mathcal{X} = {0, 1, ldots, m-1}$."], [124, 4, 2, "p-Y", "Y", "The output alphabet $mathcal{Y}$ of size $n$. If None, it is assumed that $mathcal{Y} = {0, 1, ldots, n-1}$."], [124, 4, 2, "p-x", "x", "The input sequence $x$ with $x_i in mathcal{X}$."]], "sdr.ebn0_to_esn0": [[125, 4, 2, "p-bps", "bps", "Bits per symbol $log_2 M$, where $M$ is the modulation order."], [125, 4, 2, "p-ebn0", "ebn0", "Bit energy $E_b$ to noise PSD $N_0$ ratio in dB."], [125, 4, 2, "p-rate", "rate", "Code rate $r = k/n$, where $k$ is the number of information bits and $n$ is the number of coded bits."]], "sdr.ebn0_to_snr": [[126, 4, 2, "p-bps", "bps", "Bits per symbol $log_2 M$, where $M$ is the modulation order."], [126, 4, 2, "p-ebn0", "ebn0", "Bit energy $E_b$ to noise PSD $N_0$ ratio in dB."], [126, 4, 2, "p-rate", "rate", "Code rate $r = k/n$, where $k$ is the number of information bits and $n$ is the number of coded bits."], [126, 4, 2, "p-sps", "sps", "Samples per symbol $f_s / f_{sym}$."]], "sdr.energy": [[127, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to measure."]], "sdr.esn0_to_ebn0": [[128, 4, 2, "p-bps", "bps", "Bits per symbol $log_2 M$, where $M$ is the modulation order."], [128, 4, 2, "p-esn0", "esn0", "Symbol energy $E_s$ to noise PSD $N_0$ ratio in dB."], [128, 4, 2, "p-rate", "rate", "Code rate $r = k/n$, where $k$ is the number of information bits and $n$ is the number of coded bits."]], "sdr.esn0_to_snr": [[129, 4, 2, "p-esn0", "esn0", "Symbol energy $E_s$ to noise PSD $N_0$ ratio in dB."], [129, 4, 2, "p-sps", "sps", "Samples per symbol $f_s / f_{sym}$."]], "sdr.evm": [[130, 4, 2, "p-norm", "norm", "The normalization source used in the EVM calculation."], [130, 4, 2, "p-output", "output", "The output type of the EVM calculation."], [130, 4, 2, "p-ref", "ref", "The complex reference symbols $x[k]$. This can be the noiseless transmitted symbols or the modulation's symbol map."], [130, 4, 2, "p-x_hat", "x_hat", "The complex symbols $hat{x}[k]$ to be measured."]], "sdr.frequency_offset": [[131, 4, 2, "p-freq", "freq", "The frequency offset $f$ in Hz (or in cycles/sample if sample_rate=1)."], [131, 4, 2, "p-freq_rate", "freq_rate", "The frequency offset rate $f_{text{rate}}$ in Hz/s (or in cycles/sample^2 if sample_rate=1)."], [131, 4, 2, "p-phase", "phase", "The phase offset $phi$ in degrees."], [131, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ in samples/s."], [131, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to which the frequency offset is applied."]], "sdr.fspl": [[132, 4, 2, "p-d", "d", "The distance $d$ in meters between the transmitter and receiver."], [132, 4, 2, "p-f", "f", "The frequency $f$ in Hz of the signal."]], "sdr.gaussian": [[133, 4, 2, "p-span", "span", "The length of the filter in symbols. The length of the filter is span * sps + 1 samples. The filter order span * sps must be even."], [133, 4, 2, "p-sps", "sps", "The number of samples per symbol."], [133, 4, 2, "p-time_bandwidth", "time_bandwidth", "The time-bandwidth product $B T_{sym}$ of the filter, where $B$ is the one-sided 3-dB bandwidth in Hz and $T_{sym}$ is the symbol time in seconds. The time-bandwidth product can also be thought of as the fractional bandwidth $B / f_{sym}$. Smaller values produce wider pulses."]], "sdr.gray_code": [[134, 4, 2, "p-n", "n", "The length of the Gray code."]], "sdr.hexdump": [[135, 4, 2, "p-data", "data", "The data to display. Each element is considered one byte. Use sdr.pack() or sdr.unpack() to convert data with variable bits per element."], [135, 4, 2, "p-width", "width", "The number of bytes per line."]], "sdr.iq_imbalance": [[136, 4, 2, "p-amplitude", "amplitude", "The amplitude imbalance $A$ in dB. A positive value indicates that the in-phase component is larger than the quadrature component."], [136, 4, 2, "p-phase", "phase", "The phase imbalance $phi$ in degrees. A positive value indicates that the quadrature component leads the in-phase component."], [136, 4, 2, "p-x", "x", "The complex time-domain signal $x[n]$ to which IQ imbalance is applied."]], "sdr.linear": [[137, 4, 2, "p-type", "type", "The type of output value or signal."], [137, 4, 2, "p-x", "x", "The input value or signal in dB."]], "sdr.mix": [[138, 4, 2, "p-freq", "freq", "The frequency $f$ of the complex exponential in Hz (or 1/samples if sample_rate=1). The frequency must satisfy $-f_s/2 le f le f_s/2$."], [138, 4, 2, "p-phase", "phase", "The phase $phi$ of the complex exponential in degrees."], [138, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the signal."], [138, 4, 2, "p-x", "x", "The time-domain signal $x[n]$."]], "sdr.pack": [[139, 4, 2, "p-bpe", "bpe", "The number of bits per element in the output array."], [139, 4, 2, "p-dtype", "dtype", "The data type of the output array. If None, the smallest unsigned integer dtype that can hold bpe bits is used."], [139, 4, 2, "p-x", "x", "The input binary array with 1 bit per element."]], "sdr.papr": [[140, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to measure."]], "sdr.parabolic_antenna": [[141, 4, 2, "p-diameter", "diameter", "The diameter $d$ in meters of the parabolic reflector."], [141, 4, 2, "p-efficiency", "efficiency", "The efficiency $0 le eta le 1$ of the parabolic reflector."], [141, 4, 2, "p-freq", "freq", "The frequency $f$ in Hz of the signal."]], "sdr.peak_power": [[142, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to measure."]], "sdr.peak_voltage": [[143, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to measure."]], "sdr.plot": [[144, 5, 1, "", "ber", "Plots the bit error rate (BER) as a function of $E_b/N_0$."], [145, 5, 1, "", "constellation", "Plots the constellation of the complex symbols $hat{x}[k]$."], [146, 5, 1, "", "filter", "Plots the frequency response $H(omega)$, impulse response $h[n]$, step response $s[n]$, and zeros and poles of the filter."], [147, 5, 1, "", "frequency_response", "Plots the frequency response $H(omega)$ of the filter."], [148, 5, 1, "", "group_delay", "Plots the group delay $tau_g(omega)$ of the IIR filter."], [149, 5, 1, "", "impulse_response", "Plots the impulse response $h[n]$ of a filter."], [150, 5, 1, "", "periodogram", "Plots the estimated power spectral density $P_{xx}$ of a time-domain signal $x[n]$ using Welch's method."], [151, 5, 1, "", "phase_delay", "Plots the phase delay $tau_{phi}(omega)$ of the filter."], [152, 5, 1, "", "phase_response", "Plots the phase response $Theta(omega)$ of the filter."], [153, 5, 1, "", "ser", "Plots the symbol error rate (SER) as a function of $E_s/N_0$."], [154, 5, 1, "", "spectrogram", "Plots the spectrogram of a time-domain signal $x[n]$ using Welch's method."], [155, 5, 1, "", "step_response", "Plots the step response $s[n]$ of a filter."], [156, 5, 1, "", "symbol_map", "Plots the symbol map of the complex symbols $hat{x}[k]$."], [157, 5, 1, "", "time_domain", "Plots a time-domain signal $x[n]$."], [158, 5, 1, "", "use_style", "Applies sdr's default matplotlib rcParams."], [159, 5, 1, "", "zeros_poles", "Plots the zeros and poles of the filter."]], "sdr.plot.ber": [[144, 4, 2, "p-ber", "ber", "The bit error rate $P_{be}$."], [144, 4, 2, "p-ebn0", "ebn0", "The bit energy $E_b$ to noise PSD $N_0$ ratio (dB)."], [144, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.semilogy()."]], "sdr.plot.constellation": [[145, 4, 2, "p-heatmap", "heatmap", "If True, a heatmap is plotted instead of a scatter plot."], [145, 4, 2, "p-kwargs", "kwargs", "If heatmap=False, additional keyword arguments to pass to matplotlib.pyplot.scatter(). The following keyword arguments are set by default. The defaults may be overwritten."], [145, 4, 2, "p-limits", "limits", "The axis limits, which apply to both the x- and y-axis. If None, the axis limits are set to 10% larger than the maximum value."], [145, 4, 2, "p-x_hat", "x_hat", "The complex symbols $hat{x}[k]$."]], "sdr.plot.filter": [[146, 4, 2, "p-N_freq", "N_freq", "The number of samples $N_f$ in the frequency response."], [146, 4, 2, "p-N_time", "N_time", "The number of samples $N_t$ in the time domain. If None, the length of b is used for FIR filters and 100 for IIR filters."], [146, 4, 2, "p-decades", "decades", "The number of decades to plot when x_axis=\"log\"."], [146, 4, 2, "p-filter", "filter", "The filter definition."], [146, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the filter in samples/s."], [146, 4, 2, "p-x_axis", "x_axis", "The x-axis scaling. Options are to display a one-sided spectrum, a two-sided spectrum, or one-sided spectrum with a logarithmic frequency axis."]], "sdr.plot.frequency_response": [[147, 4, 2, "p-N", "N", "The number of samples $N$ in the frequency response."], [147, 4, 2, "p-decades", "decades", "The number of decades to plot when x_axis=\"log\"."], [147, 4, 2, "p-filter", "filter", "The filter definition."], [147, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot()."], [147, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the filter in samples/s."], [147, 4, 2, "p-x_axis", "x_axis", "The x-axis scaling. Options are to display a one-sided spectrum, a two-sided spectrum, or one-sided spectrum with a logarithmic frequency axis."]], "sdr.plot.group_delay": [[148, 4, 2, "p-N", "N", "The number of samples $N$ in the frequency response."], [148, 4, 2, "p-decades", "decades", "The number of decades to plot when x_axis=\"log\"."], [148, 4, 2, "p-filter", "filter", "The filter definition."], [148, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot()."], [148, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the filter in samples/s."], [148, 4, 2, "p-x_axis", "x_axis", "The x-axis scaling. Options are to display a one-sided spectrum, a two-sided spectrum, or one-sided spectrum with a logarithmic frequency axis."]], "sdr.plot.impulse_response": [[149, 4, 2, "p-N", "N", "The number of samples $N$ to plot. If None, the length of b is used for FIR filters and 100 for IIR filters."], [149, 4, 2, "p-filter", "filter", "The filter definition."], [149, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot()."]], "sdr.plot.periodogram": [[150, 4, 2, "p-average", "average", "The type of averaging to use. Options are to average the periodograms using the mean or median."], [150, 4, 2, "p-detrend", "detrend", "The type of detrending to apply. Options are to remove the mean or a linear trend from each segment."], [150, 4, 2, "p-fft", "fft", "The number of points to use in the FFT. If None, the FFT length is set to length."], [150, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot()."], [150, 4, 2, "p-length", "length", "The length of each segment in samples. If None, the length is set to 256."], [150, 4, 2, "p-overlap", "overlap", "The number of samples to overlap between segments. If None, the overlap is set to length // 2."], [150, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the signal in samples/s."], [150, 4, 2, "p-window", "window", "The windowing function to use. This can be a string or a vector of length length."], [150, 4, 2, "p-x", "x", "The time-domain signal $x[n]$."], [150, 4, 2, "p-x_axis", "x_axis", "The x-axis scaling. Options are to display a one-sided spectrum, a two-sided spectrum, or one-sided spectrum with a logarithmic frequency axis."]], "sdr.plot.phase_delay": [[151, 4, 2, "p-N", "N", "The number of samples $N$ in the phase delay."], [151, 4, 2, "p-decades", "decades", "The number of decades to plot when x_axis=\"log\"."], [151, 4, 2, "p-filter", "filter", "The filter definition."], [151, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot()."], [151, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the filter in samples/s."], [151, 4, 2, "p-x_axis", "x_axis", "The x-axis scaling. Options are to display a one-sided spectrum, a two-sided spectrum, or one-sided spectrum with a logarithmic frequency axis."]], "sdr.plot.phase_response": [[152, 4, 2, "p-N", "N", "The number of samples $N$ in the phase response."], [152, 4, 2, "p-decades", "decades", "The number of decades to plot when x_axis=\"log\"."], [152, 4, 2, "p-filter", "filter", "The filter definition."], [152, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot()."], [152, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the filter in samples/s."], [152, 4, 2, "p-unwrap", "unwrap", "Indicates whether to unwrap the phase response."], [152, 4, 2, "p-x_axis", "x_axis", "The x-axis scaling. Options are to display a one-sided spectrum, a two-sided spectrum, or one-sided spectrum with a logarithmic frequency axis."]], "sdr.plot.ser": [[153, 4, 2, "p-esn0", "esn0", "The symbol energy $E_s$ to noise PSD $N_0$ ratio (dB)."], [153, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.semilogy()."], [153, 4, 2, "p-ser", "ser", "The symbol error rate $P_{se}$."]], "sdr.plot.spectrogram": [[154, 4, 2, "p-detrend", "detrend", "The type of detrending to apply. Options are to remove the mean or a linear trend from each segment."], [154, 4, 2, "p-fft", "fft", "The number of points to use in the FFT. If None, the FFT length is set to length."], [154, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.pcolormesh(). The following keyword arguments are set by default. The defaults may be overwritten."], [154, 4, 2, "p-length", "length", "The length of each segment in samples. If None, the length is set to 256."], [154, 4, 2, "p-overlap", "overlap", "The number of samples to overlap between segments. If None, the overlap is set to length // 2."], [154, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the signal in samples/s. If the sample rate is 1, the x-axis will be label as \"Samples\" and the y-axis as \"Normalized Frequency\"."], [154, 4, 2, "p-window", "window", "The windowing function to use. This can be a string or a vector of length length."], [154, 4, 2, "p-x", "x", "The time-domain signal $x[n]$."], [154, 4, 2, "p-x_axis", "x_axis", "The x-axis scaling. Options are to display a one-sided spectrum or two-sided spectrum."]], "sdr.plot.step_response": [[155, 4, 2, "p-N", "N", "The number of samples $N$ to plot. If None, the length of b is used for FIR filters and 100 for IIR filters."], [155, 4, 2, "p-filter", "filter", "The filter definition."], [155, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot()."]], "sdr.plot.symbol_map": [[156, 4, 2, "p-annotate", "annotate", "If True, the symbols are annotated with their index. If \"bin\", the symbols are annotated with their binary representation."], [156, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot(). The following keyword arguments are set by default. The defaults may be overwritten."], [156, 4, 2, "p-limits", "limits", "The axis limits, which apply to both the x- and y-axis. If None, the axis limits are set to 50% larger than the maximum value."], [156, 4, 2, "p-symbol_map", "symbol_map", "The complex symbols $hat{x}[k]$."]], "sdr.plot.time_domain": [[157, 4, 2, "p-diff", "diff", "Indicates how to differentiate the real and imaginary parts of a complex signal. If \"color\", the real and imaginary parts will have different colors based on the current Matplotlib color cycle. If \"line\", the real part will have a solid line and the imaginary part will have a dashed line, and both lines will share the same color."], [157, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot()."], [157, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the signal in samples/s. If the sample rate is 1, the x-axis will be label as \"Samples\"."], [157, 4, 2, "p-x", "x", "The time-domain signal $x[n]$."]], "sdr.plot.zeros_poles": [[159, 4, 2, "p-filter", "filter", "The filter definition."], [159, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot()."]], "sdr.raised_cosine": [[160, 4, 2, "p-alpha", "alpha", "The excess bandwidth $0 le alpha le 1$ of the filter."], [160, 4, 2, "p-span", "span", "The length of the filter in symbols. The length of the filter is span * sps + 1 samples. The filter order span * sps must be even."], [160, 4, 2, "p-sps", "sps", "The number of samples per symbol."]], "sdr.rms_voltage": [[161, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to measure."]], "sdr.root_raised_cosine": [[162, 4, 2, "p-alpha", "alpha", "The excess bandwidth $0 le alpha le 1$ of the filter."], [162, 4, 2, "p-span", "span", "The length of the filter in symbols. The length of the filter is span * sps + 1 samples. The filter order span * sps must be even."], [162, 4, 2, "p-sps", "sps", "The number of samples per symbol."]], "sdr.sample_rate_offset": [[163, 4, 2, "p-ppm", "ppm", "The sample rate offset $f_{s,text{new}} / f_s$ in parts per million (ppm)."], [163, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to which the sample rate offset is applied."]], "sdr.snr_to_ebn0": [[164, 4, 2, "p-bps", "bps", "Bits per symbol $log_2 M$, where $M$ is the modulation order."], [164, 4, 2, "p-rate", "rate", "Code rate $r = k/n$, where $k$ is the number of information bits and $n$ is the number of coded bits."], [164, 4, 2, "p-snr", "snr", "Signal-to-noise ratio $S/N$ in dB."], [164, 4, 2, "p-sps", "sps", "Samples per symbol $f_s / f_{sym}$."]], "sdr.snr_to_esn0": [[165, 4, 2, "p-snr", "snr", "Signal-to-noise ratio $S/N$ in dB."], [165, 4, 2, "p-sps", "sps", "Samples per symbol $f_s / f_{sym}$."]], "sdr.to_complex_bb": [[166, 4, 2, "p-x_r", "x_r", "The real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r}$. If the length is odd, one zero is appended to the end."]], "sdr.to_real_pb": [[167, 4, 2, "p-x_c", "x_c", "The complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c}$."]], "sdr.unpack": [[168, 4, 2, "p-bpe", "bpe", "The number of bits per element in the input array."], [168, 4, 2, "p-dtype", "dtype", "The data type of the output array. If None, numpy.uint8 is used."], [168, 4, 2, "p-x", "x", "The input array with bpe bits per element."]], "sdr.zadoff_chu": [[169, 4, 2, "p-length", "length", "The length $N$ of the Zadoff-Chu sequence."], [169, 4, 2, "p-root", "root", "The root $0 < u < N$ of the Zadoff-Chu sequence. The root must be relatively prime to the length, i.e., $gcd(u, N) = 1$."], [169, 4, 2, "p-shift", "shift", "The shift $q in mathbb{Z}$ of the Zadoff-Chu sequence. When $q ne 0$, the returned sequence is a cyclic shift of the root-$u$ Zadoff-Chu sequence."]]}, "objtypes": {"0": "py:module", "1": "py:class", "2": "py:property", "3": "py:method", "4": "py:parameter", "5": "py:function"}, "objnames": {"0": ["py", "module", "Python module"], "1": ["py", "class", "Python class"], "2": ["py", "property", "Python property"], "3": ["py", "method", "Python method"], "4": ["py", "parameter", "Python parameter"], "5": ["py", "function", "Python function"]}, "titleterms": {"convers": 0, "decibel": 0, "from": [0, 174, 175, 176], "e_b": 0, "n_0": 0, "e_": 0, "": [0, 178, 179], "n": [0, 177, 178, 179], "data": 1, "manipul": [1, 2], "digit": [2, 179], "signal": [2, 171, 177, 180], "process": 2, "filter": [2, 6, 178, 179, 181], "resampl": [2, 177], "correl": 2, "link": 3, "budget": 3, "channel": [3, 171], "capac": 3, "path": 3, "loss": 3, "antenna": 3, "measur": 4, "energi": 4, "power": [4, 180], "voltag": 4, "modul": [4, 5, 6], "class": 5, "puls": [5, 180, 183], "shape": [5, 180, 183], "symbol": [5, 182], "map": [5, 182], "encod": 5, "plot": [6, 180], "configur": [6, 175, 176], "time": [6, 180, 181], "domain": [6, 180, 181], "frequenc": [6, 178, 179, 180, 181], "spectral": 6, "estim": 6, "analysi": 6, "probabl": 7, "note": [8, 150, 154], "constructor": [8, 25, 31, 38, 51, 59, 66, 82, 91, 99], "method": [8, 25, 31, 38, 51, 59, 66, 82, 91, 99], "properti": [8, 25, 38, 51, 59, 66, 82, 91, 99], "see": [25, 31, 33, 43, 44, 45, 48, 72, 73, 75, 79, 91, 101, 107, 109, 110, 120, 140, 146, 147, 148, 149, 151, 152, 155, 159], "also": [25, 31, 33, 43, 44, 45, 48, 72, 73, 75, 79, 91, 101, 107, 109, 110, 120, 140, 146, 147, 148, 149, 151, 152, 155, 159], "special": [25, 38, 51, 59, 66, 82, 91], "sequenc": 170, "simul": 171, "model": 171, "impair": 171, "synchron": 172, "document": 173, "instal": [173, 174, 175, 176, 184], "build": 173, "doc": 173, "serv": 173, "pypi": 174, "github": 174, "edit": 174, "local": 174, "folder": 174, "dev": 174, "depend": 174, "linter": 175, "run": [175, 176], "command": [175, 176], "line": [175, 176], "v": [175, 176], "code": [175, 176], "unit": 176, "test": 176, "farrow": 177, "arbitrari": 177, "construct": 177, "an": [177, 178, 179], "input": 177, "x": 177, "t_": 177, "rate": [177, 182], "r": 177, "y": 177, "frac": 177, "upsampl": 177, "integ": 177, "downsampl": 177, "irrat": 177, "fir": 178, "creat": [178, 179], "examin": [178, 179, 180], "impuls": [178, 179], "respons": [178, 179, 181], "h": [178, 179], "step": [178, 179, 181], "omega": [178, 179], "group": [178, 179], "delai": [178, 179], "tau_g": [178, 179], "fulli": [178, 179], "analyz": [178, 179, 181], "iir": 179, "zero": 179, "pole": 179, "stabil": 179, "peak": 180, "averag": 180, "qpsk": [180, 182], "variou": 180, "across": [180, 181], "excess": 180, "bandwidth": 180, "phase": [181, 182], "lock": 181, "loop": 181, "design": 181, "proport": 181, "plu": 181, "integr": 181, "ppi": 181, "implement": 181, "pll": 181, "close": 181, "perform": 181, 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manipulation": [[1, "data-manipulation"]], "Digital signal processing": [[2, "digital-signal-processing"]], "Filtering": [[2, "filtering"]], "Resampling": [[2, "resampling"]], "Correlation": [[2, "correlation"]], "Signal manipulation": [[2, "signal-manipulation"]], "Link budgets": [[3, "link-budgets"]], "Channel capacity": [[3, "channel-capacity"]], "Path losses": [[3, "path-losses"]], "Antennas": [[3, "antennas"]], "Measurement": [[4, "measurement"]], "Energy": [[4, "energy"]], "Power": [[4, "power"]], "Voltage": [[4, "voltage"]], "Modulation": [[4, "modulation"], [5, "modulation"], [6, "modulation"]], "Classes": [[5, "classes"]], "Pulse shaping": [[5, "pulse-shaping"]], "Symbol mapping": [[5, "symbol-mapping"], [182, "symbol-mapping"]], "Symbol encoding": [[5, "symbol-encoding"]], "Plotting": [[6, "plotting"]], "Configuration": [[6, "configuration"], [175, "configuration"], [176, "configuration"]], "Time-domain": [[6, "time-domain"]], "Frequency-domain": [[6, "frequency-domain"]], "Spectral estimation": [[6, "spectral-estimation"]], "Filter analysis": [[6, "filter-analysis"]], "Probability": [[7, "probability"]], "Note": [[8, null], [150, null], [154, null]], "Constructors": [[8, "constructors"], [25, "constructors"], [31, "constructors"], [38, "constructors"], [51, "constructors"], [59, "constructors"], [66, "constructors"], [82, "constructors"], [91, "constructors"], [99, "constructors"]], "Methods": [[8, "methods"], [25, "methods"], [31, "methods"], [38, "methods"], [51, "methods"], [59, "methods"], [66, "methods"], [82, "methods"], [91, "methods"], [99, "methods"]], "Properties": [[8, "properties"], [25, "properties"], [38, "properties"], [51, "properties"], [59, "properties"], [66, "properties"], [82, "properties"], [91, "properties"], [99, "properties"]], "See also": [[25, null], [31, null], [33, null], [43, null], [44, null], [45, null], [48, null], [72, null], [73, null], [75, null], [79, null], [91, null], [101, null], [107, null], [109, null], [110, null], [120, null], [140, null], [146, null], [147, null], [148, null], [149, null], [151, null], [152, null], [155, null], [159, null]], "Special methods": [[25, "special-methods"], [38, "special-methods"], [51, "special-methods"], [59, "special-methods"], [66, "special-methods"], [82, "special-methods"], [91, "special-methods"]], "Sequences": [[170, "sequences"]], "Simulation": [[171, "simulation"]], "Channel models": [[171, "channel-models"]], "Signal impairments": [[171, "signal-impairments"]], "Synchronization": [[172, "synchronization"]], "Documentation": [[173, "documentation"]], "Install": [[173, "install"], [175, "install"], [176, "install"]], "Build the docs": [[173, "build-the-docs"]], "Serve the docs": [[173, "serve-the-docs"]], "Installation": [[174, "installation"], [184, "installation"]], "Install from PyPI": [[174, "install-from-pypi"]], "Install from GitHub": [[174, "install-from-github"]], "Editable install from local folder": [[174, "editable-install-from-local-folder"]], "Install the dev dependencies": [[174, "install-the-dev-dependencies"]], "Linter": [[175, "linter"]], "Run from the command line": [[175, "run-from-the-command-line"], [176, "run-from-the-command-line"]], "Run from VS Code": [[175, "run-from-vs-code"], [176, "run-from-vs-code"]], "Unit Tests": [[176, "unit-tests"]], "Farrow arbitrary resampler": [[177, "farrow-arbitrary-resampler"]], "Construct an input signal, x[n] = x(n T_s)": [[177, "construct-an-input-signal-x-n-x-n-t-s"]], "Resample the input signal with rate r, y[n] = x(n \\frac{T_s}{r})": [[177, "resample-the-input-signal-with-rate-r-y-n-x-n-frac-t-s-r"]], "Upsample the signal by an integer rate": [[177, "upsample-the-signal-by-an-integer-rate"]], "Downsample the signal by an integer rate": [[177, "downsample-the-signal-by-an-integer-rate"]], "Upsample by an irrational rate": [[177, "upsample-by-an-irrational-rate"]], "Downsample by an irrational rate": [[177, "downsample-by-an-irrational-rate"]], "FIR filters": [[178, "fir-filters"]], "Create an FIR filter": [[178, "create-an-fir-filter"]], "Examine the impulse response, h[n]": [[178, "examine-the-impulse-response-h-n"], [179, "examine-the-impulse-response-h-n"]], "Examine the step response, s[n]": [[178, "examine-the-step-response-s-n"], [179, "examine-the-step-response-s-n"]], "Examine the frequency response, H(\\omega)": [[178, "examine-the-frequency-response-h-omega"], [179, "examine-the-frequency-response-h-omega"]], "Examine the group delay, \\tau_g(\\omega)": [[178, "examine-the-group-delay-tau-g-omega"], [179, "examine-the-group-delay-tau-g-omega"]], "Fully analyze a FIR filter": [[178, "fully-analyze-a-fir-filter"]], "IIR filters": [[179, "iir-filters"]], "Create an IIR filter": [[179, "create-an-iir-filter"]], "Examine the zeros and poles": [[179, "examine-the-zeros-and-poles"]], "Fully analyze an IIR filter": [[179, "fully-analyze-an-iir-filter"]], "Poles and digital filter stability": [[179, "poles-and-digital-filter-stability"]], "Peak-to-average power": [[180, "peak-to-average-power"]], "QPSK signal with various pulse shapes": [[180, "qpsk-signal-with-various-pulse-shapes"]], "Examine time domain": [[180, "examine-time-domain"]], "Examine frequency domain": [[180, "examine-frequency-domain"]], "Plot across excess bandwidth": [[180, "plot-across-excess-bandwidth"]], "Phase-locked loops": [[181, "phase-locked-loops"]], "Design a proportional-plus-integrator (PPI) loop filter": [[181, "design-a-proportional-plus-integrator-ppi-loop-filter"]], "Implement a PLL in the phase domain": [[181, "implement-a-pll-in-the-phase-domain"]], "Implement a PLL in the time domain": [[181, "implement-a-pll-in-the-time-domain"]], "Analyze PLL closed-loop performance": [[181, "analyze-pll-closed-loop-performance"]], "Compare step and frequency response across \\zeta": [[181, "compare-step-and-frequency-response-across-zeta"]], "Compare step and frequency response across B_n T": [[181, "compare-step-and-frequency-response-across-b-n-t"]], "Compare lock time across B_n T": [[181, "compare-lock-time-across-b-n-t"]], "Phase-shift keying": [[182, "phase-shift-keying"]], "Constellations": [[182, "constellations"]], "BPSK": [[182, "bpsk"]], "QPSK": [[182, "qpsk"]], "8-PSK": [[182, "id1"]], "16-PSK": [[182, "id2"]], "Error rate curves": [[182, "error-rate-curves"]], "Bit error rate curves": [[182, "bit-error-rate-curves"]], "Symbol error rate curves": [[182, "symbol-error-rate-curves"]], "Pulse shapes": [[183, "pulse-shapes"]], "Raised cosine": [[183, "raised-cosine"]], "Square-root raised cosine": [[183, "square-root-raised-cosine"]], "Gaussian": [[183, "gaussian"]], "sdr": [[184, "sdr"]], "Features": [[184, "features"]], "v0.0": [[185, "v0-0"]], "v0.0.4": [[185, "v0-0-4"]], "Changes": [[185, "changes"], [185, "id1"], [185, "id3"], [185, "id5"]], "Contributors": [[185, "contributors"], [185, "id2"], [185, "id4"], [185, "id6"]], "v0.0.3": [[185, "v0-0-3"]], "v0.0.2": [[185, "v0-0-2"]], "v0.0.1": [[185, "v0-0-1"]], "Versioning": [[186, "versioning"]], "Alpha releases": [[186, "alpha-releases"]], "Beta releases": [[186, "beta-releases"]]}, "indexentries": {"module": [[2, "module-sdr"]], "sdr": [[2, "module-sdr"]]}, "docurls": ["api/conversions/", "api/data-manipulation/", "api/dsp/", "api/link-budgets/", "api/measurement/", "api/modulation/", "api/plotting/", "api/probability/", "api/sdr.ClosedLoopPLL/", "api/sdr.ClosedLoopPLL.Bn/", "api/sdr.ClosedLoopPLL.BnT/", "api/sdr.ClosedLoopPLL.K0/", "api/sdr.ClosedLoopPLL.K1/", "api/sdr.ClosedLoopPLL.K2/", "api/sdr.ClosedLoopPLL.Kp/", "api/sdr.ClosedLoopPLL.__init__/", "api/sdr.ClosedLoopPLL.frequency_lock_time/", "api/sdr.ClosedLoopPLL.iir/", "api/sdr.ClosedLoopPLL.lock_time/", "api/sdr.ClosedLoopPLL.omega_3dB/", "api/sdr.ClosedLoopPLL.omega_n/", "api/sdr.ClosedLoopPLL.phase_error_variance/", "api/sdr.ClosedLoopPLL.phase_lock_time/", "api/sdr.ClosedLoopPLL.sample_rate/", "api/sdr.ClosedLoopPLL.zeta/", "api/sdr.DDS/", "api/sdr.DDS.__call__/", "api/sdr.DDS.__init__/", "api/sdr.DDS.nco/", "api/sdr.DDS.reset/", "api/sdr.DDS.step/", "api/sdr.ErrorRate/", "api/sdr.ErrorRate.__init__/", "api/sdr.ErrorRate.add/", "api/sdr.ErrorRate.counts/", "api/sdr.ErrorRate.error_rate/", "api/sdr.ErrorRate.error_rates/", "api/sdr.ErrorRate.errors/", "api/sdr.FIR/", "api/sdr.FIR.__call__/", "api/sdr.FIR.__init__/", "api/sdr.FIR.__len__/", "api/sdr.FIR.delay/", "api/sdr.FIR.frequency_response/", "api/sdr.FIR.frequency_response_log/", "api/sdr.FIR.impulse_response/", "api/sdr.FIR.order/", "api/sdr.FIR.reset/", "api/sdr.FIR.step_response/", "api/sdr.FIR.streaming/", "api/sdr.FIR.taps/", "api/sdr.FIRInterpolator/", "api/sdr.FIRInterpolator.__call__/", "api/sdr.FIRInterpolator.__init__/", "api/sdr.FIRInterpolator.polyphase_taps/", "api/sdr.FIRInterpolator.rate/", "api/sdr.FIRInterpolator.reset/", "api/sdr.FIRInterpolator.streaming/", "api/sdr.FIRInterpolator.taps/", "api/sdr.FarrowResampler/", "api/sdr.FarrowResampler.__call__/", "api/sdr.FarrowResampler.__init__/", "api/sdr.FarrowResampler.order/", "api/sdr.FarrowResampler.reset/", "api/sdr.FarrowResampler.streaming/", "api/sdr.FarrowResampler.taps/", "api/sdr.IIR/", "api/sdr.IIR.ZerosPoles/", "api/sdr.IIR.__call__/", "api/sdr.IIR.__init__/", "api/sdr.IIR.a_taps/", "api/sdr.IIR.b_taps/", "api/sdr.IIR.frequency_response/", "api/sdr.IIR.frequency_response_log/", "api/sdr.IIR.gain/", "api/sdr.IIR.impulse_response/", "api/sdr.IIR.order/", "api/sdr.IIR.poles/", "api/sdr.IIR.reset/", "api/sdr.IIR.step_response/", "api/sdr.IIR.streaming/", "api/sdr.IIR.zeros/", "api/sdr.LoopFilter/", "api/sdr.LoopFilter.K1/", "api/sdr.LoopFilter.K2/", "api/sdr.LoopFilter.__call__/", "api/sdr.LoopFilter.__init__/", "api/sdr.LoopFilter.damping_factor/", "api/sdr.LoopFilter.iir/", "api/sdr.LoopFilter.noise_bandwidth/", "api/sdr.LoopFilter.reset/", "api/sdr.NCO/", "api/sdr.NCO.K0/", "api/sdr.NCO.__call__/", "api/sdr.NCO.__init__/", "api/sdr.NCO.increment/", "api/sdr.NCO.offset/", "api/sdr.NCO.reset/", "api/sdr.NCO.step/", "api/sdr.PSK/", "api/sdr.PSK.__init__/", "api/sdr.PSK.ber/", "api/sdr.PSK.bps/", "api/sdr.PSK.demodulate/", "api/sdr.PSK.modulate/", "api/sdr.PSK.order/", "api/sdr.PSK.phase_offset/", "api/sdr.PSK.ser/", "api/sdr.PSK.symbol_map/", "api/sdr.Q/", "api/sdr.Qinv/", "api/sdr.average_power/", "api/sdr.awgn/", "api/sdr.awgn_capacity/", "api/sdr.barker/", "api/sdr.bec/", "api/sdr.bec_capacity/", "api/sdr.binary_code/", "api/sdr.bsc/", "api/sdr.bsc_capacity/", "api/sdr.crest_factor/", "api/sdr.db/", "api/sdr.diff_decode/", "api/sdr.diff_encode/", "api/sdr.dmc/", "api/sdr.ebn0_to_esn0/", "api/sdr.ebn0_to_snr/", "api/sdr.energy/", "api/sdr.esn0_to_ebn0/", "api/sdr.esn0_to_snr/", "api/sdr.evm/", "api/sdr.frequency_offset/", "api/sdr.fspl/", "api/sdr.gaussian/", "api/sdr.gray_code/", "api/sdr.hexdump/", "api/sdr.iq_imbalance/", "api/sdr.linear/", "api/sdr.mix/", "api/sdr.pack/", "api/sdr.papr/", "api/sdr.parabolic_antenna/", "api/sdr.peak_power/", "api/sdr.peak_voltage/", "api/sdr.plot.ber/", "api/sdr.plot.constellation/", "api/sdr.plot.filter/", "api/sdr.plot.frequency_response/", "api/sdr.plot.group_delay/", "api/sdr.plot.impulse_response/", "api/sdr.plot.periodogram/", "api/sdr.plot.phase_delay/", "api/sdr.plot.phase_response/", "api/sdr.plot.ser/", "api/sdr.plot.spectrogram/", "api/sdr.plot.step_response/", "api/sdr.plot.symbol_map/", "api/sdr.plot.time_domain/", "api/sdr.plot.use_style/", "api/sdr.plot.zeros_poles/", "api/sdr.raised_cosine/", "api/sdr.rms_voltage/", "api/sdr.root_raised_cosine/", "api/sdr.sample_rate_offset/", "api/sdr.snr_to_ebn0/", "api/sdr.snr_to_esn0/", "api/sdr.to_complex_bb/", "api/sdr.to_real_pb/", "api/sdr.unpack/", "api/sdr.zadoff_chu/", "api/sequences/", "api/simulation/", "api/synchronization/", "development/documentation/", "development/installation/", "development/linter/", "development/unit-tests/", "examples/farrow-resampler/", "examples/fir-filters/", "examples/iir-filters/", "examples/peak-to-average-power/", "examples/phase-locked-loop/", "examples/psk/", "examples/pulse-shapes/", "", "release-notes/v0.0/", "release-notes/versioning/"]})
\ No newline at end of file
+Search.setIndex({"titles": ["Conversions", "Data manipulation", "Digital signal processing", "Link budgets", "Measurement", "Modulation", "Plotting", "Probability", "sdr.ClosedLoopPLL", "sdr.ClosedLoopPLL.Bn", "sdr.ClosedLoopPLL.BnT", "sdr.ClosedLoopPLL.K0", "sdr.ClosedLoopPLL.K1", "sdr.ClosedLoopPLL.K2", "sdr.ClosedLoopPLL.Kp", "sdr.ClosedLoopPLL.__init__", "sdr.ClosedLoopPLL.frequency_lock_time", "sdr.ClosedLoopPLL.iir", "sdr.ClosedLoopPLL.lock_time", "sdr.ClosedLoopPLL.omega_3dB", "sdr.ClosedLoopPLL.omega_n", "sdr.ClosedLoopPLL.phase_error_variance", "sdr.ClosedLoopPLL.phase_lock_time", "sdr.ClosedLoopPLL.sample_rate", "sdr.ClosedLoopPLL.zeta", "sdr.DDS", "sdr.DDS.__call__", "sdr.DDS.__init__", "sdr.DDS.nco", "sdr.DDS.reset", "sdr.DDS.step", "sdr.ErrorRate", "sdr.ErrorRate.__init__", "sdr.ErrorRate.add", "sdr.ErrorRate.counts", "sdr.ErrorRate.error_rate", "sdr.ErrorRate.error_rates", "sdr.ErrorRate.errors", "sdr.FIR", "sdr.FIR.__call__", "sdr.FIR.__init__", "sdr.FIR.__len__", "sdr.FIR.__repr__", "sdr.FIR.__str__", "sdr.FIR.delay", "sdr.FIR.frequency_response", "sdr.FIR.frequency_response_log", "sdr.FIR.impulse_response", "sdr.FIR.order", "sdr.FIR.reset", "sdr.FIR.step_response", "sdr.FIR.streaming", "sdr.FIR.taps", "sdr.FIRInterpolator", "sdr.FIRInterpolator.__call__", "sdr.FIRInterpolator.__init__", "sdr.FIRInterpolator.__repr__", "sdr.FIRInterpolator.__str__", "sdr.FIRInterpolator.method", "sdr.FIRInterpolator.polyphase_taps", "sdr.FIRInterpolator.rate", "sdr.FIRInterpolator.reset", "sdr.FIRInterpolator.taps", "sdr.FarrowResampler", "sdr.FarrowResampler.__call__", "sdr.FarrowResampler.__init__", "sdr.FarrowResampler.order", "sdr.FarrowResampler.reset", "sdr.FarrowResampler.streaming", "sdr.FarrowResampler.taps", "sdr.IIR", "sdr.IIR.ZerosPoles", "sdr.IIR.__call__", "sdr.IIR.__init__", "sdr.IIR.__repr__", "sdr.IIR.__str__", "sdr.IIR.a_taps", "sdr.IIR.b_taps", "sdr.IIR.frequency_response", "sdr.IIR.frequency_response_log", "sdr.IIR.gain", "sdr.IIR.impulse_response", "sdr.IIR.order", "sdr.IIR.poles", "sdr.IIR.reset", "sdr.IIR.step_response", "sdr.IIR.streaming", "sdr.IIR.zeros", "sdr.LoopFilter", "sdr.LoopFilter.K1", "sdr.LoopFilter.K2", "sdr.LoopFilter.__call__", "sdr.LoopFilter.__init__", "sdr.LoopFilter.damping_factor", "sdr.LoopFilter.iir", "sdr.LoopFilter.noise_bandwidth", "sdr.LoopFilter.reset", "sdr.NCO", "sdr.NCO.K0", "sdr.NCO.__call__", "sdr.NCO.__init__", "sdr.NCO.increment", "sdr.NCO.offset", "sdr.NCO.reset", "sdr.NCO.step", "sdr.PSK", "sdr.PSK.__init__", "sdr.PSK.ber", "sdr.PSK.bps", "sdr.PSK.demodulate", "sdr.PSK.modulate", "sdr.PSK.order", "sdr.PSK.phase_offset", "sdr.PSK.ser", "sdr.PSK.symbol_map", "sdr.Q", "sdr.Qinv", "sdr.average_power", "sdr.awgn", "sdr.awgn_capacity", "sdr.barker", "sdr.bec", "sdr.bec_capacity", "sdr.binary_code", "sdr.bsc", "sdr.bsc_capacity", "sdr.crest_factor", "sdr.db", "sdr.diff_decode", "sdr.diff_encode", "sdr.dmc", "sdr.ebn0_to_esn0", "sdr.ebn0_to_snr", "sdr.energy", "sdr.esn0_to_ebn0", "sdr.esn0_to_snr", "sdr.evm", "sdr.frequency_offset", "sdr.fspl", "sdr.gaussian", "sdr.gray_code", "sdr.hexdump", "sdr.iq_imbalance", "sdr.linear", "sdr.mix", "sdr.multirate_fir", "sdr.pack", "sdr.papr", "sdr.parabolic_antenna", "sdr.peak_power", "sdr.peak_voltage", "sdr.plot.ber", "sdr.plot.constellation", "sdr.plot.filter", "sdr.plot.frequency_response", "sdr.plot.group_delay", "sdr.plot.impulse_response", "sdr.plot.periodogram", "sdr.plot.phase_delay", "sdr.plot.phase_response", "sdr.plot.ser", "sdr.plot.spectrogram", "sdr.plot.step_response", "sdr.plot.symbol_map", "sdr.plot.time_domain", "sdr.plot.use_style", "sdr.plot.zeros_poles", "sdr.raised_cosine", "sdr.rms_voltage", "sdr.root_raised_cosine", "sdr.sample_rate_offset", "sdr.snr_to_ebn0", "sdr.snr_to_esn0", "sdr.to_complex_bb", "sdr.to_real_pb", "sdr.unpack", "sdr.zadoff_chu", "Sequences", "Simulation", "Synchronization", "Documentation", "Installation", "Linter", "Unit Tests", "Farrow arbitrary resampler", "FIR filters", "IIR filters", "Peak-to-average power", "Phase-locked loops", "Phase-shift keying", "Pulse shapes", "sdr", "v0.0", "Versioning"], "terms": {"sdr": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 192, 193], "db": [0, 3, 8, 19, 21, 31, 33, 34, 35, 37, 107, 113, 118, 119, 127, 131, 132, 134, 135, 136, 138, 139, 142, 143, 145, 147, 148, 151, 152, 160, 171, 172, 187, 189, 190], "x": [0, 1, 2, 4, 5, 6, 7, 8, 25, 26, 31, 33, 38, 39, 53, 54, 63, 64, 70, 72, 88, 91, 97, 99, 105, 109, 110, 115, 116, 117, 118, 121, 124, 126, 127, 128, 129, 130, 133, 136, 137, 142, 143, 144, 146, 147, 149, 150, 152, 153, 154, 155, 157, 158, 159, 161, 163, 164, 168, 170, 175, 178, 181, 187, 188, 189, 193], "arraylik": [0, 1, 2, 3, 4, 5, 6, 7, 25, 26, 31, 33, 38, 39, 40, 53, 54, 55, 63, 64, 67, 70, 71, 72, 73, 88, 91, 97, 99, 105, 106, 107, 109, 110, 113, 115, 116, 117, 118, 119, 121, 122, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 141, 142, 143, 144, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 166, 168, 170, 171, 172, 173, 174, 175, 178], "ndarrai": [0, 1, 2, 3, 5, 7, 25, 26, 30, 31, 36, 38, 39, 45, 46, 47, 50, 52, 53, 54, 59, 62, 63, 64, 69, 70, 72, 76, 77, 78, 79, 81, 83, 85, 87, 88, 91, 97, 99, 104, 105, 107, 109, 110, 113, 114, 115, 116, 118, 119, 120, 121, 122, 123, 124, 125, 127, 128, 129, 130, 131, 132, 134, 135, 137, 138, 139, 140, 142, 143, 144, 145, 146, 167, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178], "convert": [0, 2, 127, 131, 132, 134, 135, 141, 143, 171, 172, 173, 174], "linear": [0, 53, 55, 58, 105, 118, 127, 143, 157, 161], "unit": [0, 25, 38, 50, 53, 70, 85, 88, 97, 100, 101, 102, 106, 117, 118, 119, 127, 128, 129, 133, 143, 149, 150, 162, 164, 167, 168, 169, 181, 185, 186, 188], "ebn0_to_esn0": [0, 113, 131, 189, 191, 192], "ebn0": [0, 6, 105, 107, 119, 131, 132, 151, 189], "bp": [0, 105, 108, 131, 132, 134, 171, 189], "int": [0, 1, 2, 5, 25, 30, 31, 33, 34, 37, 38, 41, 44, 45, 46, 47, 48, 50, 53, 55, 60, 63, 66, 70, 78, 79, 81, 82, 85, 97, 104, 105, 106, 108, 111, 118, 120, 123, 128, 129, 131, 132, 134, 135, 139, 140, 141, 145, 146, 153, 154, 155, 156, 157, 158, 159, 161, 162, 167, 169, 171, 172, 175, 176, 177, 189], "ebn0_to_snr": [0, 132, 191, 192], "esn0_to_ebn0": [0, 107, 134, 191, 192], "esn0": [0, 6, 105, 113, 134, 135, 160, 189], "esn0_to_snr": [0, 135, 189, 191, 192], "sp": [0, 5, 132, 135, 139, 167, 169, 171, 172, 173, 174, 187, 189, 190], "1": [0, 2, 6, 7, 8, 15, 18, 22, 24, 25, 27, 31, 42, 43, 45, 46, 53, 55, 56, 57, 59, 62, 70, 71, 74, 75, 78, 79, 88, 92, 93, 97, 100, 105, 106, 107, 109, 110, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 148, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 184, 185, 186, 187, 188, 189, 190, 193], "snr_to_ebn0": [0, 107, 119, 171, 191, 192], "snr": [0, 3, 31, 33, 34, 35, 36, 37, 118, 119, 171, 172, 173, 174, 178, 189, 192], "snr_to_esn0": [0, 113, 172, 191, 192], "hexdump": [1, 31, 141, 191, 192], "byte": [1, 141], "width": [1, 141], "16": [1, 107, 113, 114, 131, 132, 134, 136, 141, 151, 160, 171, 172, 187, 192], "str": [1, 38, 42, 43, 53, 56, 57, 70, 74, 75, 141, 157, 161], "return": [1, 5, 8, 16, 18, 21, 22, 26, 30, 31, 33, 34, 35, 36, 37, 38, 39, 41, 42, 43, 45, 46, 47, 50, 53, 54, 56, 57, 64, 70, 72, 74, 75, 78, 79, 81, 85, 91, 99, 104, 107, 109, 113, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 185, 186, 187, 189], "specifi": [1, 31, 34, 35, 37, 118, 119, 130, 141, 185, 186], "pack": [1, 31, 33, 141, 146, 191, 192], "bpe": [1, 146, 175], "binari": [1, 3, 5, 106, 114, 120, 121, 122, 123, 124, 125, 130, 146, 163, 175, 178, 189, 192], "arrai": [1, 31, 53, 55, 59, 62, 106, 114, 120, 121, 123, 124, 128, 129, 130, 140, 146, 164, 175, 186], "an": [1, 2, 3, 38, 47, 53, 70, 71, 73, 81, 106, 107, 113, 119, 146, 151, 156, 160, 175, 181, 182, 191], "multipl": [1, 146, 175, 189], "bit": [1, 4, 6, 31, 33, 36, 105, 106, 107, 108, 114, 119, 121, 122, 124, 125, 131, 132, 134, 141, 146, 151, 171, 175, 192], "per": [1, 26, 99, 105, 106, 108, 118, 119, 131, 132, 134, 135, 137, 139, 141, 146, 152, 167, 169, 170, 171, 172, 175, 187, 190], "element": [1, 141, 146, 175], "unpack": [1, 31, 33, 141, 175, 189, 191, 192], "class": [2, 4, 8, 25, 31, 33, 34, 35, 36, 37, 38, 53, 63, 70, 88, 97, 105, 179, 185, 186, 189, 191], "fir": [2, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 59, 61, 62, 145, 153, 154, 155, 156, 158, 159, 162, 166, 187, 191, 192], "implement": [2, 5, 25, 38, 53, 63, 70, 88, 94, 97, 105, 179, 184], "finit": [2, 38, 53, 192], "impuls": [2, 6, 38, 47, 53, 70, 81, 139, 153, 156, 164, 190, 192], "respons": [2, 6, 38, 45, 46, 47, 50, 53, 70, 78, 79, 81, 85, 139, 153, 154, 155, 156, 159, 162, 190, 192], "iir": [2, 6, 8, 17, 46, 47, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 94, 153, 154, 155, 156, 158, 159, 162, 166, 185, 188, 191, 192], "infinit": [2, 70, 192], "firinterpol": [2, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 145, 187, 189, 191, 192], "polyphas": [2, 53, 55, 59, 62, 145], "interpol": [2, 53, 54, 55, 60, 145, 192], "multirate_fir": [2, 55, 145], "p": [2, 3, 7, 115, 116, 121, 122, 124, 125, 130, 145, 178], "q": [2, 7, 115, 116, 145, 176, 191, 192], "comput": [2, 7, 105, 107, 113, 115, 116, 118, 138, 145, 185, 186, 188, 190], "achiev": [2, 145, 189, 190], "ration": [2, 145], "farrowresampl": [2, 63, 64, 65, 66, 67, 68, 69, 184, 191, 192], "cubic": [2, 63], "farrow": [2, 63, 64, 65, 66, 67, 68, 69, 192], "arbitrari": [2, 63, 64, 65, 66, 67, 68, 69, 192], "mix": [2, 144, 191, 192], "freq": [2, 3, 137, 144, 148, 178, 184, 188], "float": [2, 4, 5, 6, 8, 9, 10, 11, 12, 13, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 27, 31, 33, 34, 35, 37, 45, 46, 63, 64, 70, 71, 78, 79, 80, 88, 89, 90, 92, 93, 95, 97, 98, 100, 101, 102, 105, 106, 112, 117, 118, 119, 121, 124, 126, 133, 136, 137, 139, 142, 144, 145, 147, 148, 149, 150, 152, 153, 154, 155, 157, 158, 159, 161, 163, 164, 167, 168, 169, 170, 178], "0": [2, 5, 6, 7, 15, 25, 27, 31, 38, 42, 43, 45, 46, 53, 55, 59, 62, 70, 71, 74, 75, 78, 79, 92, 97, 100, 105, 106, 109, 110, 112, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 127, 128, 129, 130, 132, 133, 135, 136, 137, 139, 140, 142, 143, 144, 146, 148, 152, 153, 154, 155, 156, 157, 158, 159, 161, 162, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 180, 181, 184, 185, 186, 187, 188, 189, 190, 193], "time": [2, 4, 8, 15, 16, 18, 19, 20, 21, 22, 38, 70, 88, 92, 105, 117, 118, 126, 130, 133, 135, 137, 139, 142, 144, 147, 149, 150, 153, 157, 161, 164, 167, 168, 169, 170, 172, 173, 174, 178, 184, 185, 186, 190, 191], "domain": [2, 4, 117, 118, 126, 133, 137, 142, 144, 147, 149, 150, 153, 157, 161, 164, 168, 170, 173, 174, 178, 191], "n": [2, 4, 5, 6, 7, 8, 25, 26, 30, 33, 34, 35, 36, 37, 38, 39, 41, 45, 46, 47, 48, 50, 53, 54, 63, 64, 70, 72, 78, 79, 81, 82, 85, 88, 91, 97, 99, 104, 115, 116, 117, 118, 119, 120, 123, 126, 130, 131, 132, 133, 134, 135, 136, 137, 140, 142, 144, 145, 147, 149, 150, 153, 154, 155, 156, 157, 158, 159, 161, 162, 164, 168, 170, 171, 172, 173, 174, 176, 177, 178, 188, 190, 191], "complex": [2, 4, 6, 25, 26, 30, 105, 106, 109, 110, 114, 118, 119, 136, 142, 144, 152, 163, 164, 173, 174, 178, 184, 185, 186, 189, 192], "exponenti": [2, 25, 26, 30, 144, 173, 174, 184, 185, 186], "to_complex_bb": [2, 173, 191, 192], "x_r": [2, 173, 174], "real": [2, 115, 116, 118, 164, 173, 174, 184, 185, 186, 188, 192], "passband": [2, 139, 173, 174, 187, 192], "center": [2, 164, 173, 174], "f_": [2, 8, 15, 23, 45, 46, 54, 78, 79, 132, 135, 137, 139, 144, 153, 154, 155, 157, 158, 159, 161, 164, 170, 171, 172, 173, 174, 184, 185, 186, 188, 190], "": [2, 6, 8, 16, 18, 19, 20, 22, 23, 33, 34, 35, 36, 37, 38, 45, 46, 50, 53, 70, 78, 79, 85, 105, 109, 110, 118, 119, 132, 135, 136, 137, 142, 152, 153, 154, 155, 157, 158, 159, 161, 162, 164, 165, 170, 171, 172, 173, 174, 183, 184, 187, 189, 191], "r": [2, 53, 54, 55, 59, 60, 62, 63, 64, 119, 131, 132, 134, 136, 139, 144, 167, 169, 171, 173, 174, 180, 181, 182, 183, 186, 187, 188, 190], "4": [2, 16, 18, 31, 46, 53, 59, 62, 74, 75, 79, 107, 112, 113, 114, 118, 119, 120, 122, 123, 125, 130, 131, 132, 134, 135, 136, 137, 138, 139, 140, 141, 142, 144, 145, 146, 148, 151, 152, 153, 154, 155, 156, 158, 159, 160, 162, 163, 164, 165, 166, 167, 169, 170, 171, 172, 173, 174, 175, 176, 180, 181, 184, 186, 187, 189], "sampl": [2, 8, 15, 23, 25, 26, 27, 30, 38, 44, 45, 46, 47, 50, 53, 54, 55, 63, 67, 78, 79, 81, 85, 88, 92, 95, 97, 99, 100, 101, 104, 118, 132, 135, 137, 139, 144, 153, 154, 155, 156, 157, 158, 159, 161, 162, 164, 167, 169, 170, 171, 172, 173, 174, 178, 184, 187, 188, 190], "rate": [2, 4, 6, 8, 15, 23, 31, 32, 33, 35, 36, 45, 46, 53, 54, 55, 57, 60, 63, 64, 78, 79, 105, 107, 113, 131, 132, 134, 137, 144, 145, 151, 153, 154, 155, 157, 158, 159, 160, 161, 164, 170, 171, 173, 174, 178, 192], "baseband": [2, 8, 144, 173, 174, 187, 188, 192], "x_c": [2, 173, 174], "c": [2, 8, 16, 18, 19, 20, 21, 22, 33, 34, 35, 36, 37, 88, 105, 114, 119, 122, 125, 138, 148, 173, 174, 188], "2": [2, 5, 8, 16, 18, 21, 31, 42, 43, 45, 46, 53, 56, 57, 59, 62, 74, 75, 78, 79, 105, 106, 107, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 148, 149, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 181, 183, 184, 185, 186, 187, 188, 189, 190], "to_real_pb": [2, 174, 187, 191, 192], "2f_": [2, 174], "awgn_capac": [3, 119, 191, 192], "calcul": [3, 4, 119, 122, 125, 136, 138, 148], "addit": [3, 118, 119, 151, 152, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 166, 178], "white": [3, 118, 119, 178], "gaussian": [3, 5, 118, 119, 139, 178, 191, 192], "nois": [3, 8, 9, 10, 15, 21, 31, 33, 34, 35, 36, 37, 88, 92, 95, 107, 113, 118, 119, 131, 132, 134, 135, 151, 160, 171, 172, 178, 188], "awgn": [3, 107, 113, 118, 119, 136, 151, 152, 160, 173, 174, 178, 189, 191, 192], "bec_capac": [3, 122, 191, 192], "erasur": [3, 121, 122, 130, 178], "bec": [3, 121, 122, 130, 178, 191, 192], "bsc_capac": [3, 125, 191, 192], "symmetr": [3, 124, 125, 130, 173, 174, 178], "bsc": [3, 124, 125, 130, 178, 191, 192], "fspl": [3, 138, 191], "d": [3, 138, 148, 180, 181, 191], "f": [3, 16, 18, 38, 45, 46, 53, 70, 78, 79, 118, 137, 138, 139, 144, 148, 170, 176, 184, 185, 186, 187, 188, 189, 190], "free": [3, 138], "space": [3, 46, 79, 138], "parabolic_antenna": [3, 148, 191, 192], "tupl": [3, 31, 33, 36, 38, 45, 46, 53, 70, 78, 79, 148, 152, 153, 154, 155, 156, 158, 159, 162, 163, 166], "gain": [3, 8, 11, 12, 13, 14, 15, 25, 27, 70, 71, 80, 88, 89, 90, 92, 97, 98, 100, 139, 148, 188], "g": [3, 36, 148, 181], "beamwidth": [3, 148], "theta": [3, 6, 27, 97, 100, 102, 148, 159], "parabol": [3, 148], "reflector": [3, 148], "signal": [4, 6, 8, 16, 18, 21, 22, 25, 26, 31, 33, 34, 35, 36, 37, 38, 39, 53, 54, 63, 64, 70, 72, 88, 91, 97, 99, 104, 117, 118, 119, 126, 127, 131, 132, 133, 134, 135, 137, 138, 139, 142, 143, 144, 145, 147, 148, 149, 150, 157, 161, 164, 168, 170, 171, 172, 173, 174, 185, 186, 188, 190, 191, 192], "average_pow": [4, 117, 147, 191, 192], "averag": [4, 31, 117, 118, 119, 136, 147, 157], "papr": [4, 147, 187, 191, 192], "peak": [4, 126, 136, 147, 149, 150], "ratio": [4, 21, 31, 33, 34, 35, 36, 37, 107, 113, 118, 119, 131, 132, 134, 135, 147, 151, 160, 171, 172], "peak_pow": [4, 147, 149, 191, 192], "crest_factor": [4, 126, 147, 191, 192], "crest": [4, 126], "factor": [4, 8, 15, 24, 88, 92, 93, 126, 188], "peak_voltag": [4, 126, 150, 191, 192], "rms_voltag": [4, 126, 168, 191, 192], "root": [4, 5, 136, 164, 168, 169, 176, 177, 185], "mean": [4, 136, 157, 161, 168, 190], "squar": [4, 5, 136, 138, 148, 164, 168, 169, 185], "rm": [4, 126, 136, 168], "errorr": [4, 31, 32, 33, 34, 35, 36, 37, 189, 191, 192], "A": [4, 8, 16, 18, 19, 20, 21, 22, 24, 31, 38, 88, 123, 140, 141, 142, 148, 167, 169, 179, 188], "error": [4, 6, 8, 14, 15, 21, 31, 32, 33, 35, 36, 37, 88, 92, 105, 107, 113, 125, 136, 151, 160, 188, 192], "ber": [4, 6, 31, 105, 107, 151, 189, 191, 192], "symbol": [4, 6, 31, 33, 36, 105, 106, 107, 108, 109, 110, 113, 114, 118, 131, 132, 134, 135, 136, 137, 139, 152, 160, 163, 167, 169, 171, 172, 187, 190, 191, 192], "ser": [4, 6, 31, 105, 113, 160, 189, 191, 192], "evm": [4, 136, 191, 192], "x_hat": [4, 6, 31, 33, 105, 109, 136, 152, 189], "ref": [4, 136, 139, 145], "vector": [4, 31, 67, 136, 157, 161, 192], "magnitud": [4, 120, 136, 176, 192], "hat": [4, 6, 33, 105, 109, 136, 152, 163], "k": [4, 5, 6, 33, 105, 106, 108, 109, 110, 111, 128, 129, 131, 132, 134, 136, 152, 163, 171, 187, 190], "psk": [5, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 118, 136, 137, 142, 151, 152, 160, 163, 170, 187, 191, 192], "phase": [5, 6, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 112, 113, 114, 137, 142, 144, 158, 159, 178], "shift": [5, 105, 107, 112, 113, 114, 176, 177, 185, 186], "kei": [5, 105, 107, 112, 113, 114], "demodul": [5, 105, 109, 189], "time_bandwidth": [5, 139], "span": [5, 139, 167, 169, 187, 190], "raised_cosin": [5, 167, 190, 191, 192], "alpha": [5, 139, 165, 167, 169, 187, 190], "rais": [5, 164, 167, 169, 185], "cosin": [5, 164, 167, 169, 185], "rc": [5, 167], "root_raised_cosin": [5, 42, 43, 153, 154, 155, 156, 158, 159, 162, 164, 166, 169, 185, 187, 189, 190, 191, 192], "srrc": [5, 164, 169, 187], "binary_cod": [5, 123, 191, 192], "gener": [5, 118, 123, 140, 180, 189], "code": [5, 38, 42, 53, 56, 70, 74, 106, 114, 120, 123, 131, 132, 134, 140, 152, 163, 171, 177, 181, 189, 192], "length": [5, 38, 41, 47, 50, 53, 55, 106, 120, 123, 139, 140, 145, 153, 156, 157, 161, 162, 167, 169, 173, 176, 177, 182, 184, 187, 190], "gray_cod": [5, 140, 191, 192], "grai": [5, 106, 114, 140, 152, 163, 189], "diff_decod": [5, 128, 129, 191, 192], "y": [5, 25, 26, 30, 38, 39, 53, 54, 64, 70, 72, 88, 91, 97, 99, 104, 118, 121, 124, 128, 129, 130, 137, 142, 144, 152, 161, 163, 164, 170, 188, 189], "y_prev": [5, 128, 129], "differenti": [5, 107, 113, 128, 129, 164, 192], "decod": [5, 128], "input": [5, 8, 16, 18, 21, 22, 25, 26, 38, 39, 40, 47, 50, 53, 54, 55, 63, 64, 65, 67, 70, 71, 72, 73, 81, 85, 88, 91, 97, 99, 105, 107, 113, 115, 118, 119, 121, 122, 124, 125, 127, 128, 129, 130, 143, 146, 156, 162, 175, 178, 185, 186, 188], "data": [5, 128, 129, 141, 146, 175, 191], "diff_encod": [5, 107, 113, 128, 129, 191, 192], "use_styl": [6, 165], "appli": [6, 53, 137, 142, 152, 157, 161, 163, 164, 165, 170, 178], "default": [6, 47, 50, 106, 114, 152, 161, 163, 165, 189], "matplotlib": [6, 151, 152, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 184, 185, 186, 187, 188, 189, 190, 191], "rcparam": [6, 165], "time_domain": [6, 53, 118, 144, 164, 173, 174, 187, 189, 190, 191, 192], "sample_r": [6, 8, 15, 23, 45, 46, 53, 78, 79, 137, 144, 153, 154, 155, 157, 158, 159, 161, 164, 173, 174, 184, 188, 190], "periodogram": [6, 157, 173, 174, 187, 191, 192], "power": [6, 105, 117, 118, 119, 127, 136, 143, 147, 148, 149, 157, 190, 191], "densiti": [6, 21, 157, 187, 190], "p_": [6, 107, 113, 117, 118, 127, 130, 136, 143, 147, 149, 151, 157, 160], "xx": [6, 157], "us": [6, 25, 28, 40, 53, 55, 58, 63, 65, 71, 73, 88, 94, 105, 109, 119, 122, 125, 136, 141, 145, 146, 152, 153, 156, 157, 161, 162, 175, 180, 181, 182, 183, 185, 186, 189, 190, 191, 193], "welch": [6, 157, 161], "method": [6, 57, 58, 157, 161, 182, 185, 186], "spectrogram": [6, 161, 191, 192], "kwarg": [6, 151, 152, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 166], "function": [6, 7, 8, 17, 38, 70, 71, 88, 115, 116, 119, 139, 151, 157, 160, 161, 182, 185, 186, 188, 190, 191, 192], "e_b": [6, 33, 34, 35, 36, 37, 105, 107, 119, 131, 132, 134, 151, 171, 191], "n_0": [6, 21, 33, 34, 35, 36, 37, 105, 107, 113, 118, 119, 131, 132, 134, 135, 136, 151, 152, 160, 171, 172, 189, 191], "constel": [6, 112, 118, 136, 137, 142, 152, 170, 176, 191, 192], "heatmap": [6, 152, 189], "bool": [6, 38, 40, 51, 53, 55, 63, 65, 68, 70, 71, 73, 86, 107, 113, 152, 159, 163, 164], "fals": [6, 38, 40, 42, 43, 53, 55, 56, 57, 63, 65, 70, 71, 73, 74, 75, 107, 113, 121, 124, 130, 152, 157, 161, 164, 186, 190], "e_": [6, 33, 34, 35, 36, 37, 105, 113, 118, 119, 131, 134, 135, 136, 152, 160, 172, 189, 191], "symbol_map": [6, 105, 112, 114, 136, 163, 164, 189, 191, 192], "map": [6, 105, 114, 136, 163, 191, 192], "h": [6, 38, 40, 42, 43, 45, 46, 47, 53, 70, 78, 79, 81, 88, 139, 145, 153, 154, 156, 187, 188, 190], "omega": [6, 27, 97, 100, 101, 153, 154, 155, 158, 159, 188], "step": [6, 25, 26, 30, 38, 50, 53, 70, 85, 97, 99, 104, 153, 162], "zero": [6, 53, 55, 67, 70, 71, 74, 75, 87, 88, 146, 153, 154, 155, 156, 158, 159, 162, 164, 166, 173, 185, 187, 188, 190], "pole": [6, 70, 71, 74, 75, 83, 153, 154, 155, 156, 158, 159, 162, 166, 185], "frequency_respons": [6, 38, 45, 46, 53, 70, 78, 79, 145, 154, 185, 186, 188, 190, 191, 192], "group_delai": [6, 155, 185, 186, 191, 192], "group": [6, 155], "delai": [6, 25, 38, 43, 44, 53, 57, 63, 88, 97, 128, 129, 155, 158, 188], "tau_g": [6, 155], "impulse_respons": [6, 38, 47, 53, 70, 81, 139, 145, 156, 167, 169, 185, 186, 190, 191, 192], "phase_delai": [6, 158, 191, 192], "tau_": [6, 158], "phi": [6, 105, 106, 112, 137, 142, 144, 158], "phase_respons": [6, 159, 191, 192], "step_respons": [6, 38, 50, 53, 70, 85, 162, 185, 186, 188, 191, 192], "zeros_pol": [6, 166, 186, 191, 192], "complementari": [7, 115, 116], "cumul": [7, 115, 116], "distribut": [7, 115, 116], "standard": [7, 115, 116], "normal": [7, 8, 10, 15, 88, 92, 95, 115, 116, 136, 139, 161, 188, 190], "mathcal": [7, 115, 116, 118, 130], "qinv": [7, 115, 116, 191, 192], "invers": [7, 116], "closedlooppl": [8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 179, 188, 191, 192], "defin": [8, 38, 70, 118, 130, 139, 176, 179, 186, 191], "perform": [8, 107, 113, 176, 179, 185, 186, 189, 191], "close": [8, 15, 17, 179, 192], "loop": [8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 179, 192], "pll": [8, 9, 10, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 179, 192], "thi": [8, 26, 33, 34, 35, 37, 38, 53, 70, 99, 105, 114, 118, 119, 136, 145, 157, 161, 164, 180, 181, 182, 183, 184, 186, 188, 189, 190], "i": [8, 15, 24, 31, 36, 38, 47, 50, 51, 53, 55, 59, 62, 63, 68, 70, 81, 85, 86, 88, 92, 93, 95, 105, 106, 115, 116, 118, 119, 122, 125, 127, 130, 131, 132, 134, 135, 137, 138, 139, 141, 142, 143, 146, 148, 152, 153, 156, 157, 161, 162, 164, 167, 169, 170, 171, 172, 173, 174, 175, 176, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 193], "meant": 8, "analysi": [8, 15, 182, 188, 192], "onli": [8, 38, 49, 53, 61, 63, 67, 70, 84, 106, 114, 118, 183, 188, 189], "block": [8, 25, 53, 88, 97, 128, 129], "diagram": [8, 25, 53, 88, 97, 128, 129], "bb": [8, 187, 188], "ped": [8, 14, 15, 92, 188], "lf": [8, 188], "lo": [8, 188], "e": [8, 25, 36, 117, 121, 122, 133, 176, 181, 185, 186, 188, 189], "j": [8, 25, 53, 59, 62, 70, 105, 118, 130, 142, 144, 176, 185, 186, 188], "nco": [8, 11, 15, 25, 27, 28, 92, 97, 98, 99, 100, 101, 102, 103, 104, 179, 188, 191, 192], "local": [8, 180, 182, 188], "oscil": [8, 25, 28, 97, 100, 179, 188, 192], "detector": [8, 14, 15, 92, 188], "filter": [8, 12, 13, 15, 17, 38, 39, 40, 41, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 58, 59, 61, 62, 63, 66, 67, 68, 69, 70, 71, 72, 73, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 139, 145, 153, 154, 155, 156, 158, 159, 162, 164, 166, 167, 169, 179, 190, 191, 192], "numer": [8, 25, 28, 97, 100, 179, 186, 188, 192], "control": [8, 25, 28, 97, 100, 179, 188, 192], "The": [8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 34, 35, 36, 37, 38, 39, 40, 41, 44, 45, 46, 47, 48, 50, 52, 53, 54, 55, 58, 59, 60, 62, 63, 64, 66, 67, 69, 70, 71, 72, 73, 76, 77, 78, 79, 80, 81, 82, 83, 85, 87, 88, 89, 90, 91, 92, 93, 94, 95, 97, 98, 99, 100, 101, 102, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 180, 181, 182, 183, 185, 186, 188, 189, 190, 191, 193], "transfer": [8, 17, 38, 70, 71, 88, 139, 185, 186, 188], "2nd": [8, 88, 92, 179, 188, 192], "order": [8, 31, 36, 38, 43, 48, 53, 55, 57, 63, 66, 70, 75, 82, 88, 92, 105, 106, 111, 118, 131, 132, 134, 136, 137, 139, 152, 167, 169, 170, 171, 179, 187, 188, 189, 192], "proport": [8, 12, 88, 89, 92, 138, 148, 179, 192], "plu": [8, 88, 92, 179, 192], "integr": [8, 13, 88, 90, 92, 179, 183, 186, 192], "h_": [8, 53, 59, 62, 188], "z": [8, 25, 38, 70, 88, 97, 128, 129, 176, 185, 186, 188], "k_1": [8, 12, 88, 89, 188], "k_2": [8, 13, 88, 90, 188], "frac": [8, 16, 18, 21, 22, 55, 70, 88, 105, 117, 118, 119, 126, 131, 132, 134, 135, 136, 138, 139, 142, 143, 144, 147, 148, 168, 171, 172, 176, 188], "k_0": [8, 11, 15, 27, 92, 97, 98, 100, 188], "k_p": [8, 14, 15, 92, 188], "refer": [8, 16, 18, 19, 20, 21, 22, 31, 63, 88, 107, 113, 118, 126, 136, 137, 139, 145, 147, 167, 169, 170, 176, 186, 190], "michael": [8, 16, 18, 19, 20, 21, 22, 88, 167, 169], "rice": [8, 16, 18, 19, 20, 21, 22, 88, 167, 169], "digit": [8, 16, 18, 19, 20, 21, 22, 25, 27, 88, 107, 113, 167, 169, 179, 188, 191, 192], "commun": [8, 16, 18, 19, 20, 21, 22, 88, 107, 113, 145, 167, 169, 188, 191], "discret": [8, 16, 18, 19, 20, 21, 22, 88, 118, 130, 135, 167, 169, 172, 178, 184, 188], "approach": [8, 16, 18, 19, 20, 21, 22, 88, 119, 122, 125, 167, 169, 188], "appendix": [8, 88, 167, 169], "lock": [8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104], "exampl": [8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 56, 57, 59, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 107, 112, 113, 114, 115, 116, 118, 119, 120, 121, 122, 123, 124, 125, 127, 128, 129, 130, 131, 132, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 148, 151, 152, 153, 154, 155, 156, 158, 159, 160, 162, 163, 164, 165, 166, 167, 169, 170, 171, 172, 173, 174, 175, 176, 188], "see": [8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 26, 27, 28, 29, 30, 34, 35, 36, 37, 38, 39, 40, 41, 44, 48, 49, 51, 52, 54, 61, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 76, 77, 80, 82, 83, 84, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 98, 99, 100, 101, 102, 103, 104, 105, 112, 114, 139, 167, 169, 191], "noise_bandwidth": [8, 15, 88, 92, 95], "damping_factor": [8, 15, 88, 92, 93], "creat": [8, 15, 25, 27, 31, 32, 38, 40, 53, 55, 63, 65, 70, 71, 73, 88, 92, 97, 100, 105, 106, 112, 118, 120, 136, 137, 144, 164, 170, 173, 174, 176, 184, 188, 190], "object": [8, 15, 31, 32, 38, 42, 43, 53, 56, 57, 70, 74, 75, 105, 106, 153, 154, 155, 156, 158, 159, 162, 166, 186, 188], "frequency_lock_tim": [8, 16], "freq_offset": [8, 16, 18], "frequenc": [8, 16, 18, 20, 38, 45, 46, 53, 70, 78, 79, 88, 137, 138, 144, 148, 153, 154, 155, 157, 158, 159, 161, 173, 174, 178, 190, 192], "lock_tim": [8, 18, 188], "phase_error_vari": [8, 21], "cn0": [8, 21], "varianc": [8, 21, 118], "steadi": [8, 21], "state": [8, 21, 38, 49, 51, 53, 61, 63, 67, 68, 70, 84, 86], "phase_lock_tim": [8, 22], "bn": [8, 9], "bandwidth": [8, 9, 10, 15, 19, 88, 92, 95, 119, 139, 167, 169, 188, 190], "b_n": [8, 9, 10, 15, 16, 18, 21, 22, 88, 92, 95], "hz": [8, 9, 15, 16, 18, 21, 45, 46, 78, 79, 88, 92, 95, 119, 127, 137, 138, 139, 143, 144, 148, 173, 174, 184], "bnt": [8, 10, 188], "t": [8, 10, 15, 88, 92, 95, 139, 141, 182, 184], "repres": [8, 17, 121, 122], "k0": [8, 11, 15, 25, 27, 92, 97, 98, 100], "k1": [8, 12, 88, 89, 188], "k2": [8, 13, 88, 90, 188], "kp": [8, 14, 15, 92], "omega_3db": [8, 19], "3": [8, 16, 18, 19, 22, 31, 42, 43, 53, 59, 62, 74, 75, 107, 112, 113, 114, 118, 119, 120, 121, 123, 124, 127, 130, 131, 132, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 148, 152, 153, 154, 155, 156, 158, 159, 162, 164, 166, 170, 171, 173, 174, 175, 176, 186, 188, 190, 191], "omega_": [8, 19], "textrm": [8, 19], "radian": [8, 19, 20, 21, 25, 27, 188], "omega_n": [8, 20, 188], "natur": [8, 20], "zeta": [8, 15, 24, 88, 92, 93], "damp": [8, 15, 24, 88, 92, 93, 188], "properti": [9, 10, 11, 12, 13, 14, 17, 19, 20, 23, 24, 28, 44, 48, 51, 52, 58, 59, 60, 62, 66, 68, 69, 76, 77, 80, 82, 83, 86, 87, 89, 90, 93, 94, 95, 98, 101, 102, 108, 111, 112, 114, 182], "paramet": [15, 16, 18, 21, 26, 27, 30, 33, 34, 35, 37, 39, 40, 45, 46, 47, 50, 54, 55, 64, 65, 67, 71, 72, 73, 78, 79, 81, 85, 91, 92, 99, 100, 104, 106, 107, 109, 110, 113, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176], "where": [15, 88, 92, 95, 106, 118, 119, 130, 131, 132, 134, 139, 171, 176, 185, 186, 191], "period": [15, 88, 92, 95, 176], "second": [15, 16, 18, 22, 31, 88, 92, 95, 139], "critic": [15, 24, 88, 92, 93, 188], "underdamp": [15, 24, 88, 92, 93], "overdamp": [15, 24, 88, 92, 93], "ted": [15, 92], "t_": [16, 18, 22, 64, 139, 190], "fl": [16, 18], "delta": [16, 18, 38, 47, 53, 70, 81, 156, 185, 186], "offset": [16, 18, 25, 27, 53, 97, 100, 102, 105, 106, 112, 137, 144, 164, 170, 178, 188], "take": [16, 18, 22], "onto": [16, 18, 22], "equat": [16, 18, 19, 20, 21, 22, 70, 105], "39": 16, "pl": [18, 22], "38": 18, "34": 19, "33": 20, "sigma_": 21, "theta_": 21, "carrier": [21, 105], "43": 21, "40": [22, 53], "less": 24, "than": [24, 106, 114, 142, 152, 163], "greater": 24, "dd": [25, 26, 27, 28, 29, 30, 97, 179, 188, 191, 192], "direct": [25, 27, 179, 188, 192], "synthes": [25, 27, 179, 188, 192], "note": [25, 38, 53, 59, 62, 70, 88, 97, 105, 118, 119, 122, 125, 128, 129, 139, 142, 148, 176], "increment": [25, 26, 27, 97, 99, 100, 101, 188], "v": [25, 97, 127, 143, 180], "output": [25, 26, 30, 38, 39, 47, 50, 53, 54, 70, 71, 73, 81, 85, 88, 91, 97, 99, 104, 118, 119, 120, 121, 122, 124, 125, 129, 130, 136, 143, 146, 156, 162, 175, 180, 184, 185, 186, 188], "constant": [25, 27, 88, 97, 100, 101, 157, 161, 186, 188], "accumul": [25, 27, 31, 97, 100, 101, 188], "absolut": [25, 27, 97, 100, 102, 119], "adder": [25, 88, 97, 128, 129, 188], "__call__": [25, 26, 38, 39, 40, 51, 53, 54, 55, 63, 64, 65, 68, 70, 71, 72, 73, 86, 88, 91, 97, 99], "variabl": [25, 26, 97, 99, 141, 188], "reset": [25, 29, 38, 49, 53, 61, 63, 67, 70, 84, 88, 96, 97, 103], "forward": [25, 30, 97, 104], "vari": [26, 99], "number": [30, 31, 33, 34, 37, 45, 46, 47, 50, 78, 79, 81, 85, 104, 105, 108, 118, 131, 132, 134, 139, 141, 146, 152, 153, 154, 155, 156, 157, 158, 159, 161, 162, 167, 169, 171, 175], "measur": [31, 33, 117, 118, 126, 127, 133, 136, 143, 147, 149, 150, 168, 188, 191, 192], "new": [31, 32, 63, 65, 105, 106, 170], "In": [31, 39, 40, 42, 43, 51, 53, 54, 55, 56, 57, 59, 62, 65, 68, 71, 73, 74, 75, 86, 107, 112, 113, 114, 115, 116, 118, 119, 120, 121, 122, 123, 124, 125, 127, 128, 129, 130, 131, 132, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 148, 151, 152, 153, 154, 155, 156, 158, 159, 160, 162, 163, 164, 165, 166, 167, 169, 170, 171, 172, 173, 174, 175, 176, 184, 189], "from": [31, 45, 46, 70, 71, 78, 79, 105, 114, 127, 131, 132, 134, 135, 143, 157, 161, 171, 172, 180, 185, 186, 188, 191], "first": [31, 53, 146, 164, 175, 182, 183], "receiv": [31, 33, 107, 113, 136, 138], "contain": [31, 118, 141], "10": [31, 53, 59, 62, 107, 113, 118, 123, 127, 130, 131, 132, 134, 135, 137, 138, 139, 140, 141, 142, 143, 144, 147, 148, 151, 152, 153, 154, 155, 156, 158, 159, 160, 162, 164, 166, 167, 169, 170, 171, 172, 184, 185, 186, 187, 188, 189, 190], "add": [31, 33, 36, 118, 137, 170, 178, 189, 193], "out": [31, 42, 53, 56, 59, 62, 74, 112, 114, 115, 116, 120, 121, 123, 124, 127, 128, 129, 130, 131, 132, 134, 135, 136, 138, 140, 143, 146, 148, 155, 165, 171, 172, 175], "5": [31, 42, 43, 53, 59, 62, 118, 121, 123, 124, 125, 130, 131, 132, 134, 135, 136, 137, 139, 140, 141, 142, 148, 153, 154, 155, 156, 158, 159, 162, 164, 166, 167, 169, 170, 171, 172, 173, 174, 176, 180, 184, 185, 186, 187, 188, 189, 190, 192], "total": [31, 190], "ar": [31, 33, 34, 35, 37, 40, 46, 53, 55, 59, 62, 65, 71, 73, 79, 105, 106, 119, 121, 122, 124, 125, 146, 152, 153, 154, 155, 157, 158, 159, 161, 163, 164, 165, 173, 174, 180, 181, 182, 184, 186, 188, 190, 191, 193], "count": [31, 34, 136], "error_r": [31, 35, 36, 189], "everi": [31, 184], "can": [31, 33, 34, 35, 37, 88, 118, 136, 139, 145, 146, 157, 161, 181, 185, 186, 189, 191, 193], "obtain": 31, "follow": [31, 142, 152, 161, 163, 165, 188], "6": [31, 42, 43, 53, 59, 62, 74, 75, 114, 123, 127, 130, 131, 132, 136, 138, 140, 141, 143, 148, 152, 153, 154, 155, 156, 158, 159, 162, 163, 164, 166, 173, 174, 176, 183, 185, 186, 188, 189, 192], "tabul": [31, 32], "given": [31, 33, 34, 35, 37, 63, 64, 136, 185, 186], "none": [31, 35, 38, 47, 50, 53, 63, 67, 88, 96, 105, 107, 113, 118, 119, 130, 146, 152, 153, 156, 157, 161, 162, 163, 175, 178, 184, 187, 189], "numpi": [31, 36, 38, 45, 46, 53, 70, 78, 79, 118, 175, 184, 185, 186, 187, 188, 189, 190, 191], "all": [31, 36, 136, 183], "ascend": [31, 36], "correspond": [31, 36], "other": [33, 34, 35, 37, 184, 193], "quantiti": [33, 34, 35, 36, 37], "howev": [33, 34, 35, 37, 88, 122, 125, 184], "user": [33, 34, 35, 37, 185, 186], "caution": [33, 34, 35, 37], "consist": [33, 34, 35, 36, 37], "instanc": [33, 34, 35, 37, 182], "transmit": [33, 136], "section": [33, 34, 35, 36, 37, 186, 188], "specif": [36, 55, 183, 190], "whatev": 36, "wa": [36, 119], "provid": [36, 105, 107, 113, 191], "wrapper": [38, 70], "scipi": [38, 39, 54, 70, 157, 161, 190, 191], "convolv": [38, 39, 54, 164], "It": [38, 70, 88, 118], "support": [38, 70], "one": [38, 70, 106, 114, 139, 141, 153, 154, 155, 157, 158, 159, 161, 173, 185, 186, 187, 190], "stream": [38, 39, 40, 42, 43, 49, 51, 53, 54, 55, 56, 57, 61, 63, 65, 67, 68, 70, 71, 73, 74, 75, 84, 86, 105], "its": [38, 70, 71, 118, 185, 186, 190], "feedforward": [38, 40, 52, 53, 55, 59, 62, 70, 73, 77, 153, 154, 155, 156, 158, 159, 162, 166, 185, 186], "coeffici": [38, 40, 53, 55, 70, 73, 153, 154, 155, 156, 158, 159, 162, 166, 185, 186], "h_i": [38, 40, 52, 53, 55, 59, 62, 185], "sum_": [38, 70, 117, 118, 119, 133, 136, 168], "sum": [38, 70, 190], "limits_": [38, 70], "__len__": [38, 41, 53], "__repr__": [38, 42, 53, 56, 70, 74], "style": [38, 42, 53, 56, 70, 74, 165], "__str__": [38, 43, 53, 57, 70, 75], "human": [38, 43, 53, 57, 70, 75], "readabl": [38, 43, 53, 57, 70, 75], "frequency_response_log": [38, 46, 53, 70, 79], "logarithm": [38, 46, 53, 70, 79, 153, 154, 155, 157, 158, 159, 185, 186], "axi": [38, 46, 53, 70, 79, 152, 153, 154, 155, 157, 158, 159, 161, 163, 164, 184], "when": [38, 47, 50, 53, 70, 81, 85, 118, 119, 121, 122, 124, 125, 135, 153, 154, 155, 156, 158, 159, 162, 172, 176, 184, 185, 186], 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"impair": [191, 192], "budget": [191, 192], "august": 192, "2023": 192, "translat": 192, "fix": [192, 193], "matt": 192, "hostett": 192, "juli": 192, "fpsl": 192, "helper": 192, "improv": 192, "semant": 193, "major": 193, "minor": 193, "patch": 193, "introduc": 193, "api": 193, "featur": 193, "backward": 193, "compat": 193, "make": 193, "bug": 193, "There": 193, "guarante": 193, "them": 193, "thei": 193}, "objects": {"": [[2, 0, 0, 1, "sdr", ""]], "sdr": [[8, 1, 1, "", "ClosedLoopPLL", "A class that defines the performance of a closed-loop PLL."], [25, 1, 1, "", "DDS", "Implements a direct digital synthesizer (DDS)."], [31, 1, 1, "", "ErrorRate", "A class for measuring bit error rates (BER) or symbol error rates (SER)."], [38, 1, 1, "", "FIR", "Implements a finite impulse response (FIR) filter."], [53, 1, 1, "", "FIRInterpolator", "Implements a polyphase finite impulse response (FIR) interpolating filter."], [63, 1, 1, "", "FarrowResampler", "Implements a cubic Farrow arbitrary resampler."], [70, 1, 1, "", "IIR", "Implements an infinite impulse response (IIR) filter."], [88, 1, 1, "", "LoopFilter", "Implements a 2nd order, proportional-plus-integrator (PPI) loop filter."], [97, 1, 1, "", "NCO", "Implements a numerically-controlled oscillator (NCO)."], [105, 1, 1, "", "PSK", "Implements phase-shift keying (PSK) modulation and demodulation."], [115, 5, 1, "", "Q", "Computes the complementary cumulative distribution function $Q(x)$ of the standard normal distribution $mathcal{N}(0, 1)$."], [116, 5, 1, "", "Qinv", "Computes the inverse complementary cumulative distribution function $Q^{-1}(p)$ of the standard normal distribution $mathcal{N}(0, 1)$."], [117, 5, 1, "", "average_power", "Measures the average power of a time-domain signal $x[n]$."], [118, 5, 1, "", "awgn", "Adds additive white Gaussian noise (AWGN) to the time-domain signal $x[n]$."], [119, 5, 1, "", "awgn_capacity", "Calculates the capacity of an additive white Gaussian noise (AWGN) channel."], [120, 5, 1, "", "barker", "Returns the Barker code/sequence of length $N$."], [121, 5, 1, "", "bec", "Passes the binary input sequence $x$ through a binary erasure channel (BEC) with erasure probability $p$."], [122, 5, 1, "", "bec_capacity", "Calculates the capacity of a binary erasure channel (BEC)."], [123, 5, 1, "", "binary_code", "Generates a binary code of length $2^n$."], [124, 5, 1, "", "bsc", "Passes the binary input sequence $x$ through a binary symmetric channel (BSC) with transition probability $p$."], [125, 5, 1, "", "bsc_capacity", "Calculates the capacity of a binary symmetric channel (BSC)."], [126, 5, 1, "", "crest_factor", "Measures the crest factor of a time-domain signal $x[n]$."], [127, 5, 1, "", "db", "Converts from linear units to decibels."], [128, 5, 1, "", "diff_decode", "Differentially decodes the input data $y[k]$."], [129, 5, 1, "", "diff_encode", "Differentially encodes the input data $x[k]$."], [130, 5, 1, "", "dmc", "Passes the input sequence $x$ through a discrete memoryless channel (DMC) with transition probability matrix $P$."], [131, 5, 1, "", "ebn0_to_esn0", "Converts from $E_b/N_0$ to $E_s/N_0$."], [132, 5, 1, "", "ebn0_to_snr", "Converts from $E_b/N_0$ to $S/N$."], [133, 5, 1, "", "energy", "Measures the energy of a time-domain signal $x[n]$."], [134, 5, 1, "", "esn0_to_ebn0", "Converts from $E_s/N_0$ to $E_b/N_0$."], [135, 5, 1, "", "esn0_to_snr", "Converts from $E_s/N_0$ to $S/N$."], [136, 5, 1, "", "evm", "Calculates the error-vector magnitude (EVM) of the complex symbols $hat{x}[k]$."], [137, 5, 1, "", "frequency_offset", "Applies a frequency and phase offset to the time-domain signal $x[n]$."], [138, 5, 1, "", "fspl", "Calculates the free-space path loss (FSPL) in dB."], [139, 5, 1, "", "gaussian", "Returns a Gaussian pulse shape."], [140, 5, 1, "", "gray_code", "Generates a Gray code of length $2^n$."], [141, 5, 1, "", "hexdump", "Returns a hexdump of the specified data."], [142, 5, 1, "", "iq_imbalance", "Applies IQ imbalance to the complex time-domain signal $x[n]$."], [143, 5, 1, "", "linear", "Converts from decibels to linear units."], [144, 5, 1, "", "mix", "Mixes the time-domain signal $x[n]$ with a complex exponential."], [145, 5, 1, "", "multirate_fir", "Computes the multirate FIR filter that achieves rational resampling by $P/Q$."], [146, 5, 1, "", "pack", "Packs a binary array into an array with multiple bits per element."], [147, 5, 1, "", "papr", "Measures the peak-to-average power ratio (PAPR) of a time-domain signal $x[n]$."], [148, 5, 1, "", "parabolic_antenna", "Calculates the gain $G$ and beamwidth $theta$ of a parabolic reflector."], [149, 5, 1, "", "peak_power", "Measures the peak power of a time-domain signal $x[n]$."], [150, 5, 1, "", "peak_voltage", "Measures the peak voltage of a time-domain signal $x[n]$."], [167, 5, 1, "", "raised_cosine", "Returns a raised cosine (RC) pulse shape."], [168, 5, 1, "", "rms_voltage", "Measures the root-mean-square (RMS) voltage of a time-domain signal $x[n]$."], [169, 5, 1, "", "root_raised_cosine", "Returns a square root raised cosine (SRRC) pulse shape."], [170, 5, 1, "", "sample_rate_offset", "Applies a sample rate offset to the time-domain signal $x[n]$."], [171, 5, 1, "", "snr_to_ebn0", "Converts from $S/N$ to $E_b/N_0$."], [172, 5, 1, "", "snr_to_esn0", "Converts from $S/N$ to $E_s/N_0$."], [173, 5, 1, "", "to_complex_bb", "Converts the real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r}$ to a complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c} = f_{s,r}/2$."], [174, 5, 1, "", "to_real_pb", "Converts the complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c}$ to a real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r} = 2f_{s,c}$."], [175, 5, 1, "", "unpack", "Unpacks an array with multiple bits per element into a binary array."], [176, 5, 1, "", "zadoff_chu", "Returns the root-$u$ Zadoff-Chu sequence of length $N$."]], "sdr.ClosedLoopPLL": [[9, 2, 1, "", "Bn", "The noise bandwidth $B_n$ of the PLL in Hz."], [10, 2, 1, "", "BnT", "The normalized noise bandwidth $B_n T$ of the PLL."], [11, 2, 1, "", "K0", "The NCO gain $K_0$."], [12, 2, 1, "", "K1", "The proportional gain $K_1$ of the loop filter."], [13, 2, 1, "", "K2", "The integral gain $K_2$ of the loop filter."], [14, 2, 1, "", "Kp", "The phase error detector (PED) gain $K_p$."], [15, 3, 1, "", "__init__", "Creates a closed-loop PLL analysis object."], [16, 3, 1, "", "frequency_lock_time", "Returns the frequency lock time of the PLL."], [17, 2, 1, "", "iir", "The IIR filter that represents the closed-loop transfer function of the PLL."], [18, 3, 1, "", "lock_time", "Returns the lock time of the PLL."], [19, 2, 1, "", "omega_3dB", "The 3-dB bandwidth $omega_{3textrm{dB}}$ of the PLL in radians/s."], [20, 2, 1, "", "omega_n", "The natural frequency $omega_n$ of the PLL in radians/s."], [21, 3, 1, "", "phase_error_variance", "Returns the variance of the phase error of the PLL in steady state."], [22, 3, 1, "", "phase_lock_time", "Returns the phase lock time of the PLL."], [23, 2, 1, "", "sample_rate", "The sample rate $f_s$ of the PLL in samples/s."], [24, 2, 1, "", "zeta", "The damping factor $zeta$ of the PLL."]], "sdr.ClosedLoopPLL.__init__": [[15, 4, 2, "p-K0", "K0", "The NCO gain $K_0$."], [15, 4, 2, "p-Kp", "Kp", "The gain $K_p$ of the phase error detector (PED) or time error detector (TED)."], [15, 4, 2, "p-damping_factor", "damping_factor", "The damping factor $zeta$ of the loop filter. $zeta = 1$ is critically damped, $zeta < 1$ is underdamped, and $zeta > 1$ is overdamped."], [15, 4, 2, "p-noise_bandwidth", "noise_bandwidth", "The normalized noise bandwidth $B_n T$ of the loop filter, where $B_n$ is the noise bandwidth in Hz and $T$ is the sampling period in seconds."], [15, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the PLL in Hz."]], "sdr.ClosedLoopPLL.frequency_lock_time": [[16, 4, 2, "p-freq_offset", "freq_offset", "The frequency offset $Delta f$ of the input signal in Hz."]], "sdr.ClosedLoopPLL.lock_time": [[18, 4, 2, "p-freq_offset", "freq_offset", "The frequency offset $Delta f$ of the input signal in Hz."]], "sdr.ClosedLoopPLL.phase_error_variance": [[21, 4, 2, "p-cn0", "cn0", "The carrier-to-noise density ratio $C/N_0$ of the input signal in dB-Hz."]], "sdr.DDS": [[26, 3, 1, "", "__call__", "Steps the DDS with the variable phase increment signal $x[n]$."], [27, 3, 1, "", "__init__", "Creates a direct digital synthesizer (DDS)."], [28, 2, 1, "", "nco", "The numerically-controlled oscillator (NCO) used by the DDS."], [29, 3, 1, "", "reset", "Resets the DDS."], [30, 3, 1, "", "step", "Steps the DDS forward by $N$ samples."]], "sdr.DDS.__call__": [[26, 4, 2, "p-x", "x", "The variable-increment signal $x[n]$. This input signal varies the per-sample increment of the DDS."]], "sdr.DDS.__init__": [[27, 4, 2, "p-K0", "K0", "The NCO gain $K_0$."], [27, 4, 2, "p-increment", "increment", "The constant accumulation $omega$ of the NCO in radians/sample."], [27, 4, 2, "p-offset", "offset", "The absolute offset $theta$ of the NCO in radians."]], "sdr.DDS.step": [[30, 4, 2, "p-N", "N", "The number of samples $N$ to step the DDS forward."]], "sdr.ErrorRate": [[32, 3, 1, "", "__init__", "Creates a new error rate tabulation object."], [33, 3, 1, "", "add", "Measures the number of bit or symbol errors at the given signal-to-noise ratio (SNR)."], [34, 3, 1, "", "counts", "Returns the number of counts at the specified signal-to-noise ratio (SNR)."], [35, 3, 1, "", "error_rate", "Returns the error rate at the specified signal-to-noise ratio (SNR)."], [36, 3, 1, "", "error_rates", "Returns all signal-to-noise ratios (SNRs) in ascending order and their corresponding error rates."], [37, 3, 1, "", "errors", "Returns the number of errors at the specified signal-to-noise ratio (SNR)."]], "sdr.ErrorRate.add": [[33, 4, 2, "p-snr", "snr", "The signal-to-noise ratio (SNR) in dB. This can be $E_b/N_0$, $E_s/N_0$, $S/N$, $C/N_0$, or other SNR quantities. However, users are cautioned to be consistent for a given class instance."], [33, 4, 2, "p-x", "x", "The transmitted bits or symbols $x[k]$."], [33, 4, 2, "p-x_hat", "x_hat", "The received bits or symbols $hat{x}[k]$."]], "sdr.ErrorRate.counts": [[34, 4, 2, "p-snr", "snr", "The signal-to-noise ratio (SNR) in dB. This can be $E_b/N_0$, $E_s/N_0$, $S/N$, $C/N_0$, or other SNR quantities. However, users are cautioned to be consistent for a given class instance."]], "sdr.ErrorRate.error_rate": [[35, 4, 2, "p-snr", "snr", "The signal-to-noise ratio (SNR) in dB. This can be $E_b/N_0$, $E_s/N_0$, $S/N$, $C/N_0$, or other SNR quantities. However, users are cautioned to be consistent for a given class instance."]], "sdr.ErrorRate.errors": [[37, 4, 2, "p-snr", "snr", "The signal-to-noise ratio (SNR) in dB. This can be $E_b/N_0$, $E_s/N_0$, $S/N$, $C/N_0$, or other SNR quantities. However, users are cautioned to be consistent for a given class instance."]], "sdr.FIR": [[39, 3, 1, "", "__call__", "Filters the input signal $x[n]$ with the FIR filter."], [40, 3, 1, "", "__init__", "Creates a FIR filter with feedforward coefficients $h_i$."], [41, 3, 1, "", "__len__", "Returns the filter length $N$."], [42, 3, 1, "", "__repr__", "Returns a code-styled string representation of the object."], [43, 3, 1, "", "__str__", "Returns a human-readable string representation of the object."], [44, 2, 1, "", "delay", "The delay of the FIR filter in samples."], [45, 3, 1, "", "frequency_response", "Returns the frequency response $H(f)$ of the FIR filter."], [46, 3, 1, "", "frequency_response_log", "Returns the frequency response $H(f)$ of the FIR filter on a logarithmic frequency axis."], [47, 3, 1, "", "impulse_response", "Returns the impulse response $h[n]$ of the FIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$."], [48, 2, 1, "", "order", "The order of the FIR filter, $N$."], [49, 3, 1, "", "reset", "Streaming-mode only: Resets the filter state."], [50, 3, 1, "", "step_response", "Returns the step response $s[n]$ of the FIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$."], [51, 2, 1, "", "streaming", "Indicates whether the filter is in streaming mode."], [52, 2, 1, "", "taps", "The feedforward taps $h_i$."]], "sdr.FIR.__call__": [[39, 4, 2, "p-mode", "mode", "The non-streaming convolution mode. See scipy.signal.convolve() for details. In streaming mode, $N$ inputs always produce $N$ outputs."], [39, 4, 2, "p-x", "x", "The input signal $x[n]$."]], "sdr.FIR.__init__": [[40, 4, 2, "p-h", "h", "The feedforward coefficients $h_i$."], [40, 4, 2, "p-streaming", "streaming", "Indicates whether to use streaming mode. In streaming mode, previous inputs are preserved between calls to __call__()."]], "sdr.FIR.frequency_response": [[45, 4, 2, "p-N", "N", "The number of samples in the frequency response."], [45, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the filter in samples/s."]], "sdr.FIR.frequency_response_log": [[46, 4, 2, "p-N", "N", "The number of samples in the frequency response."], [46, 4, 2, "p-decades", "decades", "The number of frequency decades to plot."], [46, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the filter in samples/s."]], "sdr.FIR.impulse_response": [[47, 4, 2, "p-N", "N", "The number of samples to return. The default is the filter length."]], "sdr.FIR.step_response": [[50, 4, 2, "p-N", "N", "The number of samples to return. The default is the filter length."]], "sdr.FIRInterpolator": [[54, 3, 1, "", "__call__", "Filters and interpolates the input signal $x[n]$ with the FIR filter."], [55, 3, 1, "", "__init__", "Creates a polyphase FIR interpolating filter with feedforward coefficients $h_i$."], [56, 3, 1, "", "__repr__", "Returns a code-styled string representation of the object."], [57, 3, 1, "", "__str__", "Returns a human-readable string representation of the object."], [58, 2, 1, "", "method", "The method used to design the multirate filter."], [59, 2, 1, "", "polyphase_taps", "The polyphase feedforward taps $h_{i, j}$."], [60, 2, 1, "", "rate", "The interpolation rate $r$."], [61, 3, 1, "", "reset", "Streaming-mode only: Resets the filter state."], [62, 2, 1, "", "taps", "The prototype feedforward taps $h_i$."]], "sdr.FIRInterpolator.__call__": [[54, 4, 2, "p-mode", "mode", "The non-streaming convolution mode. See scipy.signal.convolve() for details. In streaming mode, $N$ inputs always produce $N r$ outputs."], [54, 4, 2, "p-x", "x", "The input signal $x[n]$ with sample rate $f_s$."]], "sdr.FIRInterpolator.__init__": [[55, 4, 2, "p-rate", "rate", "The interpolation rate $r$."], [55, 4, 2, "p-streaming", "streaming", "Indicates whether to use streaming mode. In streaming mode, previous inputs are preserved between calls to __call__()."], [55, 4, 2, "p-taps", "taps", "The multirate filter design specification."]], "sdr.FarrowResampler": [[64, 3, 1, "", "__call__", "Resamples the input signal $x[n]$ by the given arbitrary rate $r$."], [65, 3, 1, "", "__init__", "Creates a new Farrow arbitrary resampler."], [66, 2, 1, "", "order", "The order of the filter."], [67, 3, 1, "", "reset", "Streaming-mode only: Resets the filter state and fractional sample index."], [68, 2, 1, "", "streaming", "Indicates whether the filter is in streaming mode."], [69, 2, 1, "", "taps", "The Farrow filter taps."]], "sdr.FarrowResampler.__call__": [[64, 4, 2, "p-rate", "rate", "The resampling rate $r$."], [64, 4, 2, "p-x", "x", "The input signal $x[n] = x(n T_s)$."]], "sdr.FarrowResampler.__init__": [[65, 4, 2, "p-streaming", "streaming", "Indicates whether to use streaming mode. In streaming mode, previous inputs are preserved between calls to __call__()."]], "sdr.FarrowResampler.reset": [[67, 4, 2, "p-state", "state", "The filter state to reset to. The state vector should equal the previous three inputs. If None, the filter state will be reset to zero."]], "sdr.IIR": [[71, 3, 1, "", "ZerosPoles", "Creates an IIR filter from its zeros, poles, and gain."], [72, 3, 1, "", "__call__", "Filters the input signal $x[n]$ with the IIR filter."], [73, 3, 1, "", "__init__", "Creates an IIR filter with feedforward coefficients $b_i$ and feedback coefficients $a_j$."], [74, 3, 1, "", "__repr__", "Returns a code-styled string representation of the object."], [75, 3, 1, "", "__str__", "Returns a human-readable string representation of the object."], [76, 2, 1, "", "a_taps", "The feedback taps $a_j$."], [77, 2, 1, "", "b_taps", "The feedforward taps $b_i$."], [78, 3, 1, "", "frequency_response", "Returns the frequency response $H(f)$ of the IIR filter."], [79, 3, 1, "", "frequency_response_log", "Returns the frequency response $H(f)$ of the IIR filter on a logarithmic frequency axis."], [80, 2, 1, "", "gain", "The gain of the IIR filter."], [81, 3, 1, "", "impulse_response", "Returns the impulse response $h[n]$ of the IIR filter. The impulse response $h[n]$ is the filter output when the input is an impulse $delta[n]$."], [82, 2, 1, "", "order", "The order of the IIR filter, $N$."], [83, 2, 1, "", "poles", "The poles of the IIR filter."], [84, 3, 1, "", "reset", "Streaming-mode only: Resets the filter state."], [85, 3, 1, "", "step_response", "Returns the step response $s[n]$ of the IIR filter. The step response $s[n]$ is the filter output when the input is a unit step $u[n]$."], [86, 2, 1, "", "streaming", "Indicates whether the filter is in streaming mode."], [87, 2, 1, "", "zeros", "The zeros of the IIR filter."]], "sdr.IIR.ZerosPoles": [[71, 4, 2, "p-gain", "gain", "The gain of the transfer function."], [71, 4, 2, "p-poles", "poles", "The poles of the transfer function."], [71, 4, 2, "p-streaming", "streaming", "Indicates whether to use streaming mode. In streaming mode, previous inputs and outputs are preserved between calls to __call__()."], [71, 4, 2, "p-zeros", "zeros", "The zeros of the transfer function."]], "sdr.IIR.__call__": [[72, 4, 2, "p-x", "x", "The input signal $x[n]$."]], "sdr.IIR.__init__": [[73, 4, 2, "p-a", "a", "The feedback coefficients $a_j$."], [73, 4, 2, "p-b", "b", "The feedforward coefficients $b_i$."], [73, 4, 2, "p-streaming", "streaming", "Indicates whether to use streaming mode. In streaming mode, previous inputs and outputs are preserved between calls to __call__()."]], "sdr.IIR.frequency_response": [[78, 4, 2, "p-N", "N", "The number of samples in the frequency response."], [78, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the filter in samples/s."]], "sdr.IIR.frequency_response_log": [[79, 4, 2, "p-N", "N", "The number of samples in the frequency response."], [79, 4, 2, "p-decades", "decades", "The number of frequency decades to plot."], [79, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the filter in samples/s."]], "sdr.IIR.impulse_response": [[81, 4, 2, "p-N", "N", "The number of samples to return."]], "sdr.IIR.step_response": [[85, 4, 2, "p-N", "N", "The number of samples to return."]], "sdr.LoopFilter": [[89, 2, 1, "", "K1", "The proportional gain $K_1$ of the loop filter."], [90, 2, 1, "", "K2", "The integral gain $K_2$ of the loop filter."], [91, 3, 1, "", "__call__", "Filters the input signal $x[n]$."], [92, 3, 1, "", "__init__", "Creates a 2nd order, proportional-plus-integrator (PPI) loop filter."], [93, 2, 1, "", "damping_factor", "The damping factor $zeta$ of the loop filter. $zeta = 1$ is critically damped, $zeta < 1$ is underdamped, and $zeta > 1$ is overdamped."], [94, 2, 1, "", "iir", "The underlying IIR filter used to implement the loop filter."], [95, 2, 1, "", "noise_bandwidth", "The normalized noise bandwidth $B_n T$ of the loop filter, where $B_n$ is the noise bandwidth in Hz and $T$ is the sampling period in seconds."], [96, 3, 1, "", "reset", "Resets the loop filter."]], "sdr.LoopFilter.__call__": [[91, 4, 2, "p-x", "x", "The input signal $x[n]$."]], "sdr.LoopFilter.__init__": [[92, 4, 2, "p-K0", "K0", "The NCO gain $K_0$."], [92, 4, 2, "p-Kp", "Kp", "The gain $K_p$ of the phase error detector (PED) or time error detector (TED)."], [92, 4, 2, "p-damping_factor", "damping_factor", "The damping factor $zeta$ of the loop filter. $zeta = 1$ is critically damped, $zeta < 1$ is underdamped, and $zeta > 1$ is overdamped."], [92, 4, 2, "p-noise_bandwidth", "noise_bandwidth", "The normalized noise bandwidth $B_n T$ of the loop filter, where $B_n$ is the noise bandwidth in Hz and $T$ is the sampling period in seconds."]], "sdr.NCO": [[98, 2, 1, "", "K0", "The NCO gain $K_0$."], [99, 3, 1, "", "__call__", "Steps the NCO with the variable-increment signal $x[n]$."], [100, 3, 1, "", "__init__", "Creates a numerically-controlled oscillator (NCO)."], [101, 2, 1, "", "increment", "The constant accumulation $omega$ of the NCO in units/sample."], [102, 2, 1, "", "offset", "The absolute offset $theta$ of the NCO in units."], [103, 3, 1, "", "reset", "Resets the NCO."], [104, 3, 1, "", "step", "Steps the NCO forward by $N$ samples."]], "sdr.NCO.__call__": [[99, 4, 2, "p-x", "x", "The variable-increment signal $x[n]$. This input signal varies the per-sample increment of the NCO."]], "sdr.NCO.__init__": [[100, 4, 2, "p-K0", "K0", "The NCO gain $K_0$."], [100, 4, 2, "p-increment", "increment", "The constant accumulation $omega$ of the NCO in units/sample."], [100, 4, 2, "p-offset", "offset", "The absolute offset $theta$ of the NCO in units."]], "sdr.NCO.step": [[104, 4, 2, "p-N", "N", "The number of samples $N$ to step the NCO forward."]], "sdr.PSK": [[106, 3, 1, "", "__init__", "Creates a new PSK object."], [107, 3, 1, "", "ber", "Computes the bit error rate (BER) at the provided $E_b/N_0$ values."], [108, 2, 1, "", "bps", "The number of bits per symbol $k = log_2 M$."], [109, 3, 1, "", "demodulate", "Demodulates the complex symbols $hat{x}[k]$ to decimal symbols $hat{s}[k]$ using maximum-likelihood estimation."], [110, 3, 1, "", "modulate", "Modulates to decimal symbols $s[k]$ to complex symbols $x[k]$."], [111, 2, 1, "", "order", "The modulation order $M = 2^k$."], [112, 2, 1, "", "phase_offset", "The phase offset $phi$ in degrees."], [113, 3, 1, "", "ser", "Computes the symbol error rate (SER) at the provided $E_s/N_0$ values."], [114, 2, 1, "", "symbol_map", "The symbol map ${0, dots, M-1} mapsto mathbb{C}$. This maps decimal symbols from $0$ to $M-1$ to complex symbols."]], "sdr.PSK.__init__": [[106, 4, 2, "p-order", "order", "The modulation order $M = 2^k$, where $k ge 1$ is the bits per symbol."], [106, 4, 2, "p-phase_offset", "phase_offset", "The phase offset $phi$ in degrees."], [106, 4, 2, "p-symbol_labels", "symbol_labels", "The decimal symbol labels of consecutive complex symbols."]], "sdr.PSK.ber": [[107, 4, 2, "p-diff_encoded", "diff_encoded", "Indicates whether the input symbols were differentially encoded."], [107, 4, 2, "p-ebn0", "ebn0", "Bit energy $E_b$ to noise PSD $N_0$ ratio in dB."]], "sdr.PSK.demodulate": [[109, 4, 2, "p-x_hat", "x_hat", "The complex symbols $hat{x}[k]$ to demodulate."]], "sdr.PSK.modulate": [[110, 4, 2, "p-symbols", "symbols", "The decimal symbols $s[k]$ to modulate, $0$ to $M-1$."]], "sdr.PSK.ser": [[113, 4, 2, "p-diff_encoded", "diff_encoded", "Indicates whether the input symbols were differentially encoded."], [113, 4, 2, "p-esn0", "esn0", "Symbol energy $E_s$ to noise PSD $N_0$ ratio in dB."]], "sdr.Q": [[115, 4, 2, "p-x", "x", "The real-valued input $x$."]], "sdr.Qinv": [[116, 4, 2, "p-p", "p", "The probability $p$ of exceeding the returned value $x$."]], "sdr.average_power": [[117, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to measure."]], "sdr.awgn": [[118, 4, 2, "p-noise", "noise", "The noise power (variance) in linear units. If noise is None, snr must be specified."], [118, 4, 2, "p-seed", "seed", "The seed for the random number generator. This is passed to numpy.random.default_rng()."], [118, 4, 2, "p-snr", "snr", "The desired signal-to-noise ratio (SNR) in dB. If specified, the average signal power is measured explicitly. It is assumed that $x[n]$ contains signal only. If the signal power is known, the desired noise variance can be computed and passed in noise. If snr is None, noise must be specified."], [118, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to which AWGN is added."]], "sdr.awgn_capacity": [[119, 4, 2, "p-bandwidth", "bandwidth", "The bandwidth $B$ of the channel in Hz. If specified, the capacity is calculated in bits/s. If None, the capacity is calculated in bits/2D."], [119, 4, 2, "p-snr", "snr", "The signal-to-noise ratio $S / N$ in dB of the channel."]], "sdr.barker": [[120, 4, 2, "p-length", "length", "The length $N$ of the Barker code/sequence."], [120, 4, 2, "p-output", "output", "The output format of the Barker code/sequence."]], "sdr.bec": [[121, 4, 2, "p-p", "p", "The probability $p$ of a bit erasure."], [121, 4, 2, "p-x", "x", "The input sequence $x$ with $x_i in {0, 1}$."]], "sdr.bec_capacity": [[122, 4, 2, "p-p", "p", "The erasure probability $p$ of the BEC channel."]], "sdr.binary_code": [[123, 4, 2, "p-n", "n", "The length of the binary code."]], "sdr.bsc": [[124, 4, 2, "p-p", "p", "The probability $p$ of a bit flip."], [124, 4, 2, "p-x", "x", "The input sequence $x$ with $x_i in {0, 1}$."]], "sdr.bsc_capacity": [[125, 4, 2, "p-p", "p", "The transition probability $p$ of the BSC channel."]], "sdr.crest_factor": [[126, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to measure."]], "sdr.db": [[127, 4, 2, "p-type", "type", "The type of input value or signal."], [127, 4, 2, "p-x", "x", "The input value or signal."]], "sdr.diff_decode": [[128, 4, 2, "p-y", "y", "The input encoded data $y[k]$."], [128, 4, 2, "p-y_prev", "y_prev", "The previous value of the encoded data $y[k-1]$."]], "sdr.diff_encode": [[129, 4, 2, "p-x", "x", "The input uncoded data $x[k]$."], [129, 4, 2, "p-y_prev", "y_prev", "The previous value of the output encoded data $y[k-1]$."]], "sdr.dmc": [[130, 4, 2, "p-P", "P", "The $m times n$ transition probability matrix $P$, where $P_{i,j} = Pr(Y = y_j | X = x_i)$."], [130, 4, 2, "p-X", "X", "The input alphabet $mathcal{X}$ of size $m$. If None, it is assumed that $mathcal{X} = {0, 1, ldots, m-1}$."], [130, 4, 2, "p-Y", "Y", "The output alphabet $mathcal{Y}$ of size $n$. If None, it is assumed that $mathcal{Y} = {0, 1, ldots, n-1}$."], [130, 4, 2, "p-x", "x", "The input sequence $x$ with $x_i in mathcal{X}$."]], "sdr.ebn0_to_esn0": [[131, 4, 2, "p-bps", "bps", "Bits per symbol $log_2 M$, where $M$ is the modulation order."], [131, 4, 2, "p-ebn0", "ebn0", "Bit energy $E_b$ to noise PSD $N_0$ ratio in dB."], [131, 4, 2, "p-rate", "rate", "Code rate $r = k/n$, where $k$ is the number of information bits and $n$ is the number of coded bits."]], "sdr.ebn0_to_snr": [[132, 4, 2, "p-bps", "bps", "Bits per symbol $log_2 M$, where $M$ is the modulation order."], [132, 4, 2, "p-ebn0", "ebn0", "Bit energy $E_b$ to noise PSD $N_0$ ratio in dB."], [132, 4, 2, "p-rate", "rate", "Code rate $r = k/n$, where $k$ is the number of information bits and $n$ is the number of coded bits."], [132, 4, 2, "p-sps", "sps", "Samples per symbol $f_s / f_{sym}$."]], "sdr.energy": [[133, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to measure."]], "sdr.esn0_to_ebn0": [[134, 4, 2, "p-bps", "bps", "Bits per symbol $log_2 M$, where $M$ is the modulation order."], [134, 4, 2, "p-esn0", "esn0", "Symbol energy $E_s$ to noise PSD $N_0$ ratio in dB."], [134, 4, 2, "p-rate", "rate", "Code rate $r = k/n$, where $k$ is the number of information bits and $n$ is the number of coded bits."]], "sdr.esn0_to_snr": [[135, 4, 2, "p-esn0", "esn0", "Symbol energy $E_s$ to noise PSD $N_0$ ratio in dB."], [135, 4, 2, "p-sps", "sps", "Samples per symbol $f_s / f_{sym}$."]], "sdr.evm": [[136, 4, 2, "p-norm", "norm", "The normalization source used in the EVM calculation."], [136, 4, 2, "p-output", "output", "The output type of the EVM calculation."], [136, 4, 2, "p-ref", "ref", "The complex reference symbols $x[k]$. This can be the noiseless transmitted symbols or the modulation's symbol map."], [136, 4, 2, "p-x_hat", "x_hat", "The complex symbols $hat{x}[k]$ to be measured."]], "sdr.frequency_offset": [[137, 4, 2, "p-freq", "freq", "The frequency offset $f$ in Hz (or in cycles/sample if sample_rate=1)."], [137, 4, 2, "p-freq_rate", "freq_rate", "The frequency offset rate $f_{text{rate}}$ in Hz/s (or in cycles/sample^2 if sample_rate=1)."], [137, 4, 2, "p-phase", "phase", "The phase offset $phi$ in degrees."], [137, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ in samples/s."], [137, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to which the frequency offset is applied."]], "sdr.fspl": [[138, 4, 2, "p-d", "d", "The distance $d$ in meters between the transmitter and receiver."], [138, 4, 2, "p-f", "f", "The frequency $f$ in Hz of the signal."]], "sdr.gaussian": [[139, 4, 2, "p-span", "span", "The length of the filter in symbols. The length of the filter is span * sps + 1 samples. The filter order span * sps must be even."], [139, 4, 2, "p-sps", "sps", "The number of samples per symbol."], [139, 4, 2, "p-time_bandwidth", "time_bandwidth", "The time-bandwidth product $B T_{sym}$ of the filter, where $B$ is the one-sided 3-dB bandwidth in Hz and $T_{sym}$ is the symbol time in seconds. The time-bandwidth product can also be thought of as the fractional bandwidth $B / f_{sym}$. Smaller values produce wider pulses."]], "sdr.gray_code": [[140, 4, 2, "p-n", "n", "The length of the Gray code."]], "sdr.hexdump": [[141, 4, 2, "p-data", "data", "The data to display. Each element is considered one byte. Use sdr.pack() or sdr.unpack() to convert data with variable bits per element."], [141, 4, 2, "p-width", "width", "The number of bytes per line."]], "sdr.iq_imbalance": [[142, 4, 2, "p-amplitude", "amplitude", "The amplitude imbalance $A$ in dB. A positive value indicates that the in-phase component is larger than the quadrature component."], [142, 4, 2, "p-phase", "phase", "The phase imbalance $phi$ in degrees. A positive value indicates that the quadrature component leads the in-phase component."], [142, 4, 2, "p-x", "x", "The complex time-domain signal $x[n]$ to which IQ imbalance is applied."]], "sdr.linear": [[143, 4, 2, "p-type", "type", "The type of output value or signal."], [143, 4, 2, "p-x", "x", "The input value or signal in dB."]], "sdr.mix": [[144, 4, 2, "p-freq", "freq", "The frequency $f$ of the complex exponential in Hz (or 1/samples if sample_rate=1). The frequency must satisfy $-f_s/2 le f le f_s/2$."], [144, 4, 2, "p-phase", "phase", "The phase $phi$ of the complex exponential in degrees."], [144, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the signal."], [144, 4, 2, "p-x", "x", "The time-domain signal $x[n]$."]], "sdr.multirate_fir": [[145, 4, 2, "p-A_stop", "A_stop", "The stopband attenuation $A_{text{stop}}$ in dB."], [145, 4, 2, "p-P", "P", "The interpolation rate $P$."], [145, 4, 2, "p-Q", "Q", "The decimation rate $Q$."], [145, 4, 2, "p-half_length", "half_length", "The half-length of the polyphase filters."]], "sdr.pack": [[146, 4, 2, "p-bpe", "bpe", "The number of bits per element in the output array."], [146, 4, 2, "p-dtype", "dtype", "The data type of the output array. If None, the smallest unsigned integer dtype that can hold bpe bits is used."], [146, 4, 2, "p-x", "x", "The input binary array with 1 bit per element."]], "sdr.papr": [[147, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to measure."]], "sdr.parabolic_antenna": [[148, 4, 2, "p-diameter", "diameter", "The diameter $d$ in meters of the parabolic reflector."], [148, 4, 2, "p-efficiency", "efficiency", "The efficiency $0 le eta le 1$ of the parabolic reflector."], [148, 4, 2, "p-freq", "freq", "The frequency $f$ in Hz of the signal."]], "sdr.peak_power": [[149, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to measure."]], "sdr.peak_voltage": [[150, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to measure."]], "sdr.plot": [[151, 5, 1, "", "ber", "Plots the bit error rate (BER) as a function of $E_b/N_0$."], [152, 5, 1, "", "constellation", "Plots the constellation of the complex symbols $hat{x}[k]$."], [153, 5, 1, "", "filter", "Plots the frequency response $H(omega)$, impulse response $h[n]$, step response $s[n]$, and zeros and poles of the filter."], [154, 5, 1, "", "frequency_response", "Plots the frequency response $H(omega)$ of the filter."], [155, 5, 1, "", "group_delay", "Plots the group delay $tau_g(omega)$ of the IIR filter."], [156, 5, 1, "", "impulse_response", "Plots the impulse response $h[n]$ of a filter."], [157, 5, 1, "", "periodogram", "Plots the estimated power spectral density $P_{xx}$ of a time-domain signal $x[n]$ using Welch's method."], [158, 5, 1, "", "phase_delay", "Plots the phase delay $tau_{phi}(omega)$ of the filter."], [159, 5, 1, "", "phase_response", "Plots the phase response $Theta(omega)$ of the filter."], [160, 5, 1, "", "ser", "Plots the symbol error rate (SER) as a function of $E_s/N_0$."], [161, 5, 1, "", "spectrogram", "Plots the spectrogram of a time-domain signal $x[n]$ using Welch's method."], [162, 5, 1, "", "step_response", "Plots the step response $s[n]$ of a filter."], [163, 5, 1, "", "symbol_map", "Plots the symbol map of the complex symbols $hat{x}[k]$."], [164, 5, 1, "", "time_domain", "Plots a time-domain signal $x[n]$."], [165, 5, 1, "", "use_style", "Applies sdr's default matplotlib rcParams."], [166, 5, 1, "", "zeros_poles", "Plots the zeros and poles of the filter."]], "sdr.plot.ber": [[151, 4, 2, "p-ber", "ber", "The bit error rate $P_{be}$."], [151, 4, 2, "p-ebn0", "ebn0", "The bit energy $E_b$ to noise PSD $N_0$ ratio (dB)."], [151, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.semilogy()."]], "sdr.plot.constellation": [[152, 4, 2, "p-heatmap", "heatmap", "If True, a heatmap is plotted instead of a scatter plot."], [152, 4, 2, "p-kwargs", "kwargs", "If heatmap=False, additional keyword arguments to pass to matplotlib.pyplot.scatter(). The following keyword arguments are set by default. The defaults may be overwritten."], [152, 4, 2, "p-limits", "limits", "The axis limits, which apply to both the x- and y-axis. If None, the axis limits are set to 10% larger than the maximum value."], [152, 4, 2, "p-x_hat", "x_hat", "The complex symbols $hat{x}[k]$."]], "sdr.plot.filter": [[153, 4, 2, "p-N_freq", "N_freq", "The number of samples $N_f$ in the frequency response."], [153, 4, 2, "p-N_time", "N_time", "The number of samples $N_t$ in the time domain. If None, the length of b is used for FIR filters and 100 for IIR filters."], [153, 4, 2, "p-decades", "decades", "The number of decades to plot when x_axis=\"log\"."], [153, 4, 2, "p-filter", "filter", "The filter definition."], [153, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the filter in samples/s."], [153, 4, 2, "p-x_axis", "x_axis", "The x-axis scaling. Options are to display a one-sided spectrum, a two-sided spectrum, or one-sided spectrum with a logarithmic frequency axis."]], "sdr.plot.frequency_response": [[154, 4, 2, "p-N", "N", "The number of samples $N$ in the frequency response."], [154, 4, 2, "p-decades", "decades", "The number of decades to plot when x_axis=\"log\"."], [154, 4, 2, "p-filter", "filter", "The filter definition."], [154, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot()."], [154, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the filter in samples/s."], [154, 4, 2, "p-x_axis", "x_axis", "The x-axis scaling. Options are to display a one-sided spectrum, a two-sided spectrum, or one-sided spectrum with a logarithmic frequency axis."]], "sdr.plot.group_delay": [[155, 4, 2, "p-N", "N", "The number of samples $N$ in the frequency response."], [155, 4, 2, "p-decades", "decades", "The number of decades to plot when x_axis=\"log\"."], [155, 4, 2, "p-filter", "filter", "The filter definition."], [155, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot()."], [155, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the filter in samples/s."], [155, 4, 2, "p-x_axis", "x_axis", "The x-axis scaling. Options are to display a one-sided spectrum, a two-sided spectrum, or one-sided spectrum with a logarithmic frequency axis."]], "sdr.plot.impulse_response": [[156, 4, 2, "p-N", "N", "The number of samples $N$ to plot. If None, the length of b is used for FIR filters and 100 for IIR filters."], [156, 4, 2, "p-filter", "filter", "The filter definition."], [156, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot()."]], "sdr.plot.periodogram": [[157, 4, 2, "p-average", "average", "The type of averaging to use. Options are to average the periodograms using the mean or median."], [157, 4, 2, "p-detrend", "detrend", "The type of detrending to apply. Options are to remove the mean or a linear trend from each segment."], [157, 4, 2, "p-fft", "fft", "The number of points to use in the FFT. If None, the FFT length is set to length."], [157, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot()."], [157, 4, 2, "p-length", "length", "The length of each segment in samples. If None, the length is set to 256."], [157, 4, 2, "p-overlap", "overlap", "The number of samples to overlap between segments. If None, the overlap is set to length // 2."], [157, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the signal in samples/s."], [157, 4, 2, "p-window", "window", "The windowing function to use. This can be a string or a vector of length length."], [157, 4, 2, "p-x", "x", "The time-domain signal $x[n]$."], [157, 4, 2, "p-x_axis", "x_axis", "The x-axis scaling. Options are to display a one-sided spectrum, a two-sided spectrum, or one-sided spectrum with a logarithmic frequency axis."]], "sdr.plot.phase_delay": [[158, 4, 2, "p-N", "N", "The number of samples $N$ in the phase delay."], [158, 4, 2, "p-decades", "decades", "The number of decades to plot when x_axis=\"log\"."], [158, 4, 2, "p-filter", "filter", "The filter definition."], [158, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot()."], [158, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the filter in samples/s."], [158, 4, 2, "p-x_axis", "x_axis", "The x-axis scaling. Options are to display a one-sided spectrum, a two-sided spectrum, or one-sided spectrum with a logarithmic frequency axis."]], "sdr.plot.phase_response": [[159, 4, 2, "p-N", "N", "The number of samples $N$ in the phase response."], [159, 4, 2, "p-decades", "decades", "The number of decades to plot when x_axis=\"log\"."], [159, 4, 2, "p-filter", "filter", "The filter definition."], [159, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot()."], [159, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the filter in samples/s."], [159, 4, 2, "p-unwrap", "unwrap", "Indicates whether to unwrap the phase response."], [159, 4, 2, "p-x_axis", "x_axis", "The x-axis scaling. Options are to display a one-sided spectrum, a two-sided spectrum, or one-sided spectrum with a logarithmic frequency axis."]], "sdr.plot.ser": [[160, 4, 2, "p-esn0", "esn0", "The symbol energy $E_s$ to noise PSD $N_0$ ratio (dB)."], [160, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.semilogy()."], [160, 4, 2, "p-ser", "ser", "The symbol error rate $P_{se}$."]], "sdr.plot.spectrogram": [[161, 4, 2, "p-detrend", "detrend", "The type of detrending to apply. Options are to remove the mean or a linear trend from each segment."], [161, 4, 2, "p-fft", "fft", "The number of points to use in the FFT. If None, the FFT length is set to length."], [161, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.pcolormesh(). The following keyword arguments are set by default. The defaults may be overwritten."], [161, 4, 2, "p-length", "length", "The length of each segment in samples. If None, the length is set to 256."], [161, 4, 2, "p-overlap", "overlap", "The number of samples to overlap between segments. If None, the overlap is set to length // 2."], [161, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the signal in samples/s. If the sample rate is 1, the x-axis will be label as \"Samples\" and the y-axis as \"Normalized Frequency\"."], [161, 4, 2, "p-window", "window", "The windowing function to use. This can be a string or a vector of length length."], [161, 4, 2, "p-x", "x", "The time-domain signal $x[n]$."], [161, 4, 2, "p-x_axis", "x_axis", "The x-axis scaling. Options are to display a one-sided spectrum or two-sided spectrum."]], "sdr.plot.step_response": [[162, 4, 2, "p-N", "N", "The number of samples $N$ to plot. If None, the length of b is used for FIR filters and 100 for IIR filters."], [162, 4, 2, "p-filter", "filter", "The filter definition."], [162, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot()."]], "sdr.plot.symbol_map": [[163, 4, 2, "p-annotate", "annotate", "If True, the symbols are annotated with their index. If \"bin\", the symbols are annotated with their binary representation."], [163, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot(). The following keyword arguments are set by default. The defaults may be overwritten."], [163, 4, 2, "p-limits", "limits", "The axis limits, which apply to both the x- and y-axis. If None, the axis limits are set to 50% larger than the maximum value."], [163, 4, 2, "p-symbol_map", "symbol_map", "The complex symbols $hat{x}[k]$."]], "sdr.plot.time_domain": [[164, 4, 2, "p-centered", "centered", "Indicates whether to center the x-axis about 0. This argument is mutually exclusive with offset."], [164, 4, 2, "p-diff", "diff", "Indicates how to differentiate the real and imaginary parts of a complex signal. If \"color\", the real and imaginary parts will have different colors based on the current Matplotlib color cycle. If \"line\", the real part will have a solid line and the imaginary part will have a dashed line, and both lines will share the same color."], [164, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot()."], [164, 4, 2, "p-offset", "offset", "The x-axis offset to apply to the first sample. The units of the offset are $1/f_s$. This argument is mutually exclusive with centered."], [164, 4, 2, "p-sample_rate", "sample_rate", "The sample rate $f_s$ of the signal in samples/s. If the sample rate is 1, the x-axis will be label as \"Samples\"."], [164, 4, 2, "p-x", "x", "The time-domain signal $x[n]$."]], "sdr.plot.zeros_poles": [[166, 4, 2, "p-filter", "filter", "The filter definition."], [166, 4, 2, "p-kwargs", "kwargs", "Additional keyword arguments to pass to matplotlib.pyplot.plot()."]], "sdr.raised_cosine": [[167, 4, 2, "p-alpha", "alpha", "The excess bandwidth $0 le alpha le 1$ of the filter."], [167, 4, 2, "p-span", "span", "The length of the filter in symbols. The length of the filter is span * sps + 1 samples. The filter order span * sps must be even."], [167, 4, 2, "p-sps", "sps", "The number of samples per symbol."]], "sdr.rms_voltage": [[168, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to measure."]], "sdr.root_raised_cosine": [[169, 4, 2, "p-alpha", "alpha", "The excess bandwidth $0 le alpha le 1$ of the filter."], [169, 4, 2, "p-span", "span", "The length of the filter in symbols. The length of the filter is span * sps + 1 samples. The filter order span * sps must be even."], [169, 4, 2, "p-sps", "sps", "The number of samples per symbol."]], "sdr.sample_rate_offset": [[170, 4, 2, "p-ppm", "ppm", "The sample rate offset $f_{s,text{new}} / f_s$ in parts per million (ppm)."], [170, 4, 2, "p-x", "x", "The time-domain signal $x[n]$ to which the sample rate offset is applied."]], "sdr.snr_to_ebn0": [[171, 4, 2, "p-bps", "bps", "Bits per symbol $log_2 M$, where $M$ is the modulation order."], [171, 4, 2, "p-rate", "rate", "Code rate $r = k/n$, where $k$ is the number of information bits and $n$ is the number of coded bits."], [171, 4, 2, "p-snr", "snr", "Signal-to-noise ratio $S/N$ in dB."], [171, 4, 2, "p-sps", "sps", "Samples per symbol $f_s / f_{sym}$."]], "sdr.snr_to_esn0": [[172, 4, 2, "p-snr", "snr", "Signal-to-noise ratio $S/N$ in dB."], [172, 4, 2, "p-sps", "sps", "Samples per symbol $f_s / f_{sym}$."]], "sdr.to_complex_bb": [[173, 4, 2, "p-x_r", "x_r", "The real passband signal $x_r[n]$ centered at $f_{s,r}/4$ with sample rate $f_{s,r}$. If the length is odd, one zero is appended to the end."]], "sdr.to_real_pb": [[174, 4, 2, "p-x_c", "x_c", "The complex baseband signal $x_c[n]$ centered at $0$ with sample rate $f_{s,c}$."]], "sdr.unpack": [[175, 4, 2, "p-bpe", "bpe", "The number of bits per element in the input array."], [175, 4, 2, "p-dtype", "dtype", "The data type of the output array. If None, numpy.uint8 is used."], [175, 4, 2, "p-x", "x", "The input array with bpe bits per element."]], "sdr.zadoff_chu": [[176, 4, 2, "p-length", "length", "The length $N$ of the Zadoff-Chu sequence."], [176, 4, 2, "p-root", "root", "The root $0 < u < N$ of the Zadoff-Chu sequence. The root must be relatively prime to the length, i.e., $gcd(u, N) = 1$."], [176, 4, 2, "p-shift", "shift", "The shift $q in mathbb{Z}$ of the Zadoff-Chu sequence. 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\ No newline at end of file
diff --git a/v0.0.x/sitemap.xml b/v0.0.x/sitemap.xml
index 54ba6128d..263062150 100644
--- a/v0.0.x/sitemap.xml
+++ b/v0.0.x/sitemap.xml
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